A two-stage dynamic control scheme for a skid-steering field mobile robot

in International Symposium (oral presentation paper), 國際研討會(全文口頭發表)
標題A two-stage dynamic control scheme for a skid-steering field mobile robot
出版類型國際研討會(全文口頭發表)
出版年度2015
AuthorsJiang-Heng Zhu, 朱佳珩, Gong-Bo Song 宋公博, & Chung-Liang Chang 張仲良
出版日期Oct 12 2015 12:0
會議地點Hong Kong
其他編號0000
中文摘要

This paper developed a four-wheel-drive skid-steering
field robot with high positioning accuracy using an electronic
compass, encoder, and a double-hierarchy Fuzzy/PID dynamic
motor control system. The proposed mobile robot can realize
heading angle and velocity control. The system uses a set of AVR
micro-control chips as computation core, which matches one lowcost
microcomputer inductance component. The electronic
compass and a single-point laser ranging device can allow the
robot to move straight and turn. The proposed system has
experimentally tested. The results showed that for straight-line
movement, the robot can maintain the lateral error within ±3 cm.

網址http://www.smc2015.org/conference_programme/578
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