Control system design procedure of a mobile robot with various modes of locomotion

Dawid Seredyński , Maciej Stefańczyk , Konrad Banachowicz , Bartosz Świstak , V. Kutia , Tomasz Winiarski

Abstract

In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custom-built Lynx mobile robot with vertical and horizontal modes of locomotion
Author Dawid Seredyński IAiIS
Dawid Seredyński,,
- The Institute of Control and Computation Engineering
, Maciej Stefańczyk IAiIS
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
, Konrad Banachowicz IAiIS
Konrad Banachowicz,,
- The Institute of Control and Computation Engineering
, Bartosz Świstak IAiIS
Bartosz Świstak,,
- The Institute of Control and Computation Engineering
, V. Kutia
V. Kutia,,
-
, Tomasz Winiarski IAiIS
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
Pages490-495
Publication size in sheets0.5
Book Proceedings of 21st IEEE Conference on Method and Models in Automation and Robotics, 2016, IEEE Institute of electrical and Electronics Engineers, ISBN 978-1-5090-1715-7, 1285 p., DOI:10.1109/MMAR.2016.7575223
Keywords in EnglishLegged locomotion, Control systems, Hardware, Mobile communication, Robot sensing systems
DOIDOI:10.1109/MMAR.2016.7575184
URL http://ieeexplore.ieee.org/document/7575184/
projectMethodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz, , Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
File
seredynsk i in_control mmar16.pdf (file archived - login or check accessibility on faculty) seredynsk i in_control mmar16.pdf 1.5 MB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterMatConf
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