DocumentCode
681011
Title
Development of JAUS compliant autonomous robot platform
Author
Ueno, Kentaro ; Kazuyuki, Kobayashi ; Watanabe, Kajiro ; Takahashi, Kazunari ; Amano, Ryosuke ; Moriyama, Naruhito
Author_Institution
Department of Electrical and Electronics Engineering, Faculty of Science and Engineering, Hosei University, 3-7-2 Kajinocho Koganei Tokyo 184-8584, Japan
fYear
2013
fDate
14-17 Sept. 2013
Firstpage
359
Lastpage
364
Abstract
This paper describes JAUS compliant mobile robot platform for rapid movement that is suitable for Intelligent Ground Vehicle Competition (IGVC) rule. According to rule change from IGVC 2011, maximum speed of mobile robot is changed from12.8 km/h to 16.1 km/h. In order to perform rapid movement, we built mobile robot from scratch instead of use of electric wheelchair based controller. Employment of JAUS enables rapid prototyping as well as reduces life cycle costs for developing mobile robot. Developed JAUS compliant mobile robot is consisting on two brush motors and serial controlled motor controller. In order to control mobile robot, we investigate characteristics of developed mobile robot platform. Effectiveness of proposed platform for rapid movement is confirmed by actual outdoor experiment.
Keywords
DC motors; Land vehicles; Mobile robots; Turning; Wheels; JAUS; mobile robot;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2013 Proceedings of
Conference_Location
Nagoya, Japan
Type
conf
Filename
6736178
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