Design and Some Results of Realisation of the Omnidirectional Mobile Robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F00%3APU24496" target="_blank" >RIV/00216305:26210/00:PU24496 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Design and Some Results of Realisation of the Omnidirectional Mobile Robot
Original language description
The contribution gives an overview information about overall concept of the autonomous omnidirectional mobile robot OMR III and its basic systems. A robot is designed for an autonomous motion in a partially known environment with the static and dynamic changed conditions. Above all three level control system structures are introduced. In the article there is introduced a mathematical model of a locomotion on the level of motion equations and some solution results of the task of a global navigation by Ljjapunov function. Further the vector-spacing function is introduced for a solution of a local navigation task solution including computer simulation results. These results show that a robot is capable to react on an obstacles with a maximal speeds at aneffective use of scan sensor data, those structure is in an article also described.
Czech name
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Czech description
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Project
<a href="/en/project/VS96122" target="_blank" >VS96122: Resarch Laboratory for Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2000
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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