Control of the Omnidirectional Mobile Robot MARGe

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autoren

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

Organisationseinheiten

Externe Organisationen

  • IAV GmbH
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des SammelwerksProc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14
ErscheinungsortUdine, Italy
Seiten101-108
Seitenumfang8
PublikationsstatusVeröffentlicht - 2002

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.

Zitieren

Control of the Omnidirectional Mobile Robot MARGe. / Abdellatif, H.; Weidemann, Dirk; Michaelsen, Arne et al.
Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14. Udine, Italy, 2002. S. 101-108.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Abdellatif, H, Weidemann, D, Michaelsen, A, Grotjahn, M & Heimann, B 2002, Control of the Omnidirectional Mobile Robot MARGe. in Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14. Udine, Italy, S. 101-108.
Abdellatif, H., Weidemann, D., Michaelsen, A., Grotjahn, M., & Heimann, B. (2002). Control of the Omnidirectional Mobile Robot MARGe. In Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14 (S. 101-108).
Abdellatif H, Weidemann D, Michaelsen A, Grotjahn M, Heimann B. Control of the Omnidirectional Mobile Robot MARGe. in Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14. Udine, Italy. 2002. S. 101-108
Abdellatif, H. ; Weidemann, Dirk ; Michaelsen, Arne et al. / Control of the Omnidirectional Mobile Robot MARGe. Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14. Udine, Italy, 2002. S. 101-108
Download
@inproceedings{cbcf0f7545e64ea98f125af1acc51e44,
title = "Control of the Omnidirectional Mobile Robot MARGe",
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.",
author = "H. Abdellatif and Dirk Weidemann and Arne Michaelsen and Martin Grotjahn and Bodo Heimann",
year = "2002",
language = "English",
pages = "101--108",
booktitle = "Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14",

}

Download

TY - GEN

T1 - Control of the Omnidirectional Mobile Robot MARGe

AU - Abdellatif, H.

AU - Weidemann, Dirk

AU - Michaelsen, Arne

AU - Grotjahn, Martin

AU - Heimann, Bodo

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

M3 - Conference contribution

SP - 101

EP - 108

BT - Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14

CY - Udine, Italy

ER -