Motion control development for a mobile robot

OData support
Engedy István Tamás
Department of Measurement and Information Systems

Mobile robots are systems which are able to change their position and orientation using their actuators. Providing them sensors and more actuators, they are eligible for executing complex tasks. Such robots must have motors which control their wheels. However, from the operation of these motors, and the physical properties of the robot, physical limitations originate. Ignoring these limitations might result in wheel slippage. These physical limitations result in successive executed commands to influence each other. A possible solution for this problem is to specify the operation of the robot in a way that it stops after each executed command. However, this has a negative impact on the efficiency of the movement of the robot.

My task is to modify an existing, differential drive robot so that it would not stop between commands. Because of this and the main physical limitation of the robot - the bound of the acceleration of the wheels -, while executing two successive commands, the wheels require time to reach their new velocity. During this period, the robot deviates from the specified path, which is not the desired operation. From this comes my next task, to create a system, which overwrites the given command, factoring the physical limitations, and the deviation from the path because of these limitations.


Please sign in to download the files of this thesis.