Multi-rate discrete control for omni-directional robot in intelligent space

Danai Phaoharuhansa, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Control system of mobile robot in intelligent space is often designed based on vision feedback control. However, it can perform robot in the space but the performance may not be high because the sampling rate of the vision sensor is low. To solve the problem, this paper scopes on the improvement of control system for omni-directional robot in intelligent space with multi-rate sampling control. Moreover, it is designed to derive global positioning error in feedback control system with internal sensors and low sampling rate vision system. In order to implement on intelligent space development, Kinect is used as an environment sensor to localize robot position. After robot position and objects in a space are detected, they are sent to the control system in the robot. Then, the presented multi-rate control involves robot position detected from Kinect and rotary encoder data in order to handle robot motion. The result is presented by experiment. It shows the trajectory tracking performance of omni-directional robot in the space, which is performed by the multi-rate control.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1867-1873
Number of pages7
ISBN (Print)9784907764463
DOIs
Publication statusPublished - 2014 Oct 23
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo
Duration: 2014 Sep 92014 Sep 12

Other

Other2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
CitySapporo
Period14/9/914/9/12

Fingerprint

Robots
Control systems
Sampling
Feedback control
Sensors
Mobile robots
Trajectories
Experiments

Keywords

  • 3D information
  • intelligent space
  • localization
  • multi-sampling rate control
  • Omni-directional robot

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Phaoharuhansa, D., & Shimada, A. (2014). Multi-rate discrete control for omni-directional robot in intelligent space. In Proceedings of the SICE Annual Conference (pp. 1867-1873). [6935307] Society of Instrument and Control Engineers (SICE). https://doi.org/10.1109/SICE.2014.6935307

Multi-rate discrete control for omni-directional robot in intelligent space. / Phaoharuhansa, Danai; Shimada, Akira.

Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE), 2014. p. 1867-1873 6935307.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Phaoharuhansa, D & Shimada, A 2014, Multi-rate discrete control for omni-directional robot in intelligent space. in Proceedings of the SICE Annual Conference., 6935307, Society of Instrument and Control Engineers (SICE), pp. 1867-1873, 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014, Sapporo, 14/9/9. https://doi.org/10.1109/SICE.2014.6935307
Phaoharuhansa D, Shimada A. Multi-rate discrete control for omni-directional robot in intelligent space. In Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE). 2014. p. 1867-1873. 6935307 https://doi.org/10.1109/SICE.2014.6935307
Phaoharuhansa, Danai ; Shimada, Akira. / Multi-rate discrete control for omni-directional robot in intelligent space. Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE), 2014. pp. 1867-1873
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