Abstract
This paper describes control algorithms implemented in the experimental mobile robot. Presented solution based on combining data from vision and odometry systems. It is assumed that general motion planning is performed by the master control system, and only some basic tasks are realized by the robot itself. The powerful microcontroller is able to realize more complicated control algorithms locally on the robot, so the master system can focus on more challenging tasks. The reactive algorithms based on odometry and vision systems is realized by the on-board system, they can react much faster than it would be, if current encoder readings was sent to the master system, and decision was taken there. The proposed solution also allows to avoid sliding when desired speed changes stepwisely, it changes the real speed smoothly. Since most of tasks need knowledge about robot position and/or orientation, the algorithms that allow to estimate robot’s pose are also described here.
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Bieda, R., Jaskot, K., Łakota, T., Jȩdrasiak, K. (2018). Combining Data from Vision and Odometry Systems for More Accurate Control of Mobile Robot. In: Nawrat, A., Bereska, D., Jędrasiak, K. (eds) Advanced Technologies in Practical Applications for National Security. Studies in Systems, Decision and Control, vol 106. Springer, Cham. https://doi.org/10.1007/978-3-319-64674-9_7
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DOI: https://doi.org/10.1007/978-3-319-64674-9_7
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