Control and Sensoric Subsystem of Mechatronic System OMR III

článek v časopise - ostatní, Jost

angličtina

The robot is able to make plane movements in the surroundings using a locomotive mechanism including planned interaction with the variable surrounding environment. The OMR III control system has been divided into three levels. The external subsystem represents the top level of control. The operator can control the robot through it in case of the artificial intelligence algorithms not to be able to solve the given situation. The planning subsystem creates a higher level of control and it solves localisation of the mobile robot during global navigation. The lowest level of control consists of the control subsystem of locomotion. The individual levels are inter-connected into a distributed network. The sensorial subsystem consists of two functionally different groups of sensors. The internal sensors provide information about changes of inner conditions of the robot. The external sensors provide information about changes of the external environment of the robot.

mobile robot, sensor system, control system, motion control, matching, navigation, serial communication.

SINGULE, V., LOJEK, O., HOUŠKA, P.

2001

29. 5. 2001

0072-4688

Zeszyty Naukowe Politechniki Slaskej - Elektryka

2001

z.177

Polská republika

195

202

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