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The Autonomous Omnidirectional Mobile Robot as Mechatronic System

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F00%3APU24499" target="_blank" >RIV/00216305:26210/00:PU24499 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    The Autonomous Omnidirectional Mobile Robot as Mechatronic System

  • 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?s 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 an effective use of scan sensor data, those structure is in an article also described.

  • Czech name

    Autonomní všesměrový mobilní robot jako mechatronický systém

  • Czech 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?s 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 an effective use of scan sensor data, those structure is in an article also described.

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

  • 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)

Others

  • Publication year

    2000

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    ELEKTRICKÉ POHONY A VÝKONOVÁ ELEKTRONIKA EPVE 2000

  • ISBN

    80-214-1727-7

  • ISSN

  • e-ISSN

  • Number of pages

    148

  • Pages from-to

    143-290

  • Publisher name

    VUT v Brně, FEI

  • Place of publication

    Brno

  • Event location

    Brno

  • Event date

    Nov 14, 2000

  • Type of event by nationality

    CST - Celostátní akce

  • UT code for WoS article