Control of the Omnidirectional Mobile Robot MARGe

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

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

Research Organisations

External Research Organisations

  • IAV GmbH
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Details

Original languageEnglish
Title of host publicationProc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14
Place of PublicationUdine, Italy
Pages101-108
Number of pages8
Publication statusPublished - 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.

Cite this

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. p. 101-108.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › 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, pp. 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 (pp. 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. p. 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. pp. 101-108
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