DBPapers
DOI: 10.5593/SGEM2016/B21/S07.059

THE OPTIMIZED COMMAND OF A MOBILE ROBOT

I.Borcosi, C. Cercel, A. Runceanu, F. Grofu
Friday 9 September 2016 by Libadmin2016

References: 16th International Multidisciplinary Scientific GeoConference SGEM 2016, www.sgem.org, SGEM2016 Conference Proceedings, ISBN 978-619-7105-58-2 / ISSN 1314-2704, June 28 - July 6, 2016, Book2 Vol. 1, 469-474 pp

ABSTRACT

In paper is presented the possibility of to optimize the movements (movements without oscillations) command for a wheeled mobile robot (WMR) with nonholonomic constraints. The mobile robot is programmed to follow a black line without problems, when there are some obstacles. One of the objectives of the optimized control of the robot is to get a movement of the robot without oscillations. The obstacles are treated using certain algorithms. The control algorithm of the robot can to contain individual elements of identifying of each obstacle and also common elements for all obstacles. Another objective of the optimized command of the robot is to identify the individual elements for obstacle thus; they will not be missed by robot.

Keywords: mobile robot, optimized movement, command, obstacles, algorithm.

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