Low Level Control in States Space for the Pioneer

García, Iván; Bergasa, Luis M.; Sotelo, Miguel Ángel; López, Elena; Barea, Rafael; Boquete, Luciano
Year: 2005
Type of Publication: In Proceedings
Keywords: Pioneer 2; commercial robotic platform; low level control; orientation angle control; position increment control; rotation speed control; state variables theory; states space; translation control; attitude control; control engineering computing; position control; rob
Volume: 1
Book title: Computer as a Tool, 2005. EUROCON 2005.The International Conference on
Pages: 322 -325
Month: nov.
DOI: 10.1109/EURCON.2005.1629926
In this paper, a new model and low level control system based on state variables theory for the commercial robotic platform called Pioneer 2 has been developed. We have identified and modelled the robot from the angular speeds of the wheels. We have controlled the translation and rotation speed of the robot, the orientation angle and the position increments. We have used encoders as position sensors. A comparison between the default model and control proposed by Aria, commercial software of ActivMedia robotics company, for the Pioneer 2 and our controller, called Charkos, has been carried out using several tests
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