Multi-rate Discrete Control for Omni-directional Robot in Intelligent Space

被引：0

作者：

Phaoharuhansa, Danai ^{[1
]}

Shimada, Akira ^{[2
]}

机构：

[1] Shibaura Inst Technol, Div Funct Control Syst, Tokyo 1088548, Japan

[2] Shibaura Inst Technol, Dept Engn & Design, Tokyo 1088548, Japan

来源：

2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE) | 2014年

关键词：

Omni-directional robot; intelligent space; localization; 3D information; multi-sampling rate control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control system of mobile robot in intelligent space is often designed based on vision feedback control. However, it can perform robot in the space but the performance may not be high because the sampling rate of the vision sensor is low. To solve the problem, this paper scopes on the improvement of control system for omni-directional robot in intelligent space with multi-rate sampling control. Moreover, it is designed to derive global positioning error in feedback control system with internal sensors and low sampling rate vision system. In order to implement on intelligent space development, Kinect is used as an environment sensor to localize robot position. After robot position and objects in a space are detected, they are sent to the control system in the robot. Then, the presented multi-rate control involves robot position detected from Kinect and rotary encoder data in order to handle robot motion. The result is presented by experiment. It shows the trajectory tracking performance of omni-directional robot in the space, which is performed by the multi-rate control.

引用

页码：1867 / +

页数：3

共 16 条

[1]

Chang Wen-Chung, 2010, 11 INT C CONTR AUT R

[2]

Emter Thomas, 2012, P 7 GERM C ROB MUN G

[3] High-performance servo systems based on multirate sampling control [J].