Klaus Stadlbauer, Hartmut Bremer,
"Pathplanning and control of an autonomous robot vehicle with a manipulator"
: 79th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Bremen 2008, Vol. 8, Nummer 1, WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim, Seite(n) 10143 – 10144, 2008, ISSN: 1617-7061
Pathplanning and control of an autonomous robot vehicle with a manipulator
Sprache des Titels:
79th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Bremen 2008
An autonomous mobile robot is presented. It consists of two parts: a mobile vehicle underneath a robotarm with DOF 5.
These two are a nonholomic (the mobile vehicle) and a holonomic subsystem (the robotarm).
To give the robot orders or tasks to accomplish this can be done from an external controlsoftware via TCP-IP to the controlsoftware
of the robot. An embedded system involves chart creation, pathplanning (global, local), evaluation of sensorsignals,
object- and/or marker-detection and a controlled movement. Futhermore it communicates over FIFOs with an nonrealtimetask
which allows a communication via TCP-IP.
Several sensors are implemented, e.g. infrared-/ ultrasonic-range sensors connected via CAN to the embedded board, as well
as the control boards for each engine. A Laserscanner is installed in front of the robot to detect edges and obstacles. For
marker-tracking and object recognition an USB-Webcam is added on the robotarm.
For avoidance of collisions between the robotarm and the mobile robot a repeller is introduced.