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

Danai Phaoharuhansa, Akira Shimada

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings of the SICE Annual Conference
出版者Society of Instrument and Control Engineers (SICE)
ページ1867-1873
ページ数7
ISBN(電子版)9784907764463
DOI
出版物ステータスPublished - 2014 10 23
イベント2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
継続期間: 2014 9 92014 9 12

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Conference

Conference2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Japan
Sapporo
期間14/9/914/9/12

ASJC Scopus subject areas

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

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  • これを引用

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