Title :
An integrated hardware and software design of a mobile robot
Author :
Scolari, André Gustavo ; Campestrini, Luciola ; Fehlberg, Rafael ; Pereira, Luis Fernando Alves
Author_Institution :
Catholic Univ. of Rio Grande do Sul, Brazil
Abstract :
Presents a prototype of a mobile robot that is mainly characterized by it´s real time operation based in the environment of Matlab/Simulink. The whole necessary task for an autonomous navigation and mobile robot control is done in a hierarchical and easy reprogramming way. The paper describes simulation results based on the robot´s kinematic model and practical results of real time navigation related to control, localization, path planning in a known environment.
Keywords :
digital simulation; mobile robots; navigation; path planning; real-time systems; robot kinematics; Matlab/Simulink; autonomous navigation; hardware design; known environment; mobile robot control; path planning; real time navigation; real time operation; robot kinematic model; software design; Hardware; Mathematical model; Mobile robots; Navigation; Path planning; Prototypes; Robot control; Robot kinematics; Software design; Software prototyping;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1280098
