Control of the Omnidirectional Mobile Robot MARGe

verfasst von

H. Abdellatif, Dirk Weidemann, Arne Michaelsen, Martin Grotjahn, Bodo Heimann

Abstract

This paper presents the control architecture of the mobile robot MARGe. MARGe is a nonholonomic omnidirectional wheeled platform which is designed for flexible application to various tasks. In contrast to other centralised strategies known from literature, the control architecture is separated into different control levels. This allows the application of robust and well proven control laws on each level. The performance of the concept is proven by experimental results. Furthermore, a comparison of two different path control approaches is presented.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

IAV GmbH

Typ

Aufsatz in Konferenzband

Seiten

101-108

Anzahl der Seiten

8

Publikationsdatum

2002

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja