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 (Electronic)9784907764463
DOIs
Publication statusPublished - 2014 Oct 23
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
Duration: 2014 Sep 92014 Sep 12

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
CountryJapan
CitySapporo
Period14/9/914/9/12

Keywords

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

ASJC Scopus subject areas

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

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