Control system design and study for an automatic mobile robot

Yuchun Song; Yangmin Li; Xiao Xiao

doi:10.1109/ICInfA.2015.7279824

Control system design and study for an automatic mobile robot

Yuchun Song, Yangmin Li, Xiao Xiao

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

2 Citations (Scopus)

Abstract

This paper designs a control system for an automatic handling mobile robot based on s3c2440, which can recognize environment by a laser sensor. And according to the fact that the accumulative error will increase with time in inertial navigation system and steering control is easy to be out of control for heavy robot using differential steering mechanism, two effective solutions are proposed. An inertial navigation algorithm is used for the automatic control of the robot, and an active trap system, including the generation device of magnetic field and detecting device, is designed for eliminating accumulative error. In order to improve steering control precision, a motion control algorithm is presented based on gyroscope and accelerometer. The results of experiments prove the validity of the presented control algorithm, and the navigation performance is improved.

Original language	English
Title of host publication	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Publisher	IEEE
Pages	3118-3123
Number of pages	6
ISBN (Electronic)	9781467391047
DOIs	https://doi.org/10.1109/ICInfA.2015.7279824
Publication status	Published - 28 Sept 2015
Externally published	Yes
Event	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics - Yunnan, China Duration: 8 Aug 2015 → 10 Aug 2015

Conference

Conference	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Country/Territory	China
City	Yunnan
Period	8/08/15 → 10/08/15

Keywords

Error Correction
Inertial Navigation
Laser Sensor
Mobile Robot
Motion Stability

ASJC Scopus subject areas

Computer Networks and Communications
Human-Computer Interaction
Computational Theory and Mathematics
Control and Systems Engineering
Computer Vision and Pattern Recognition
Computer Science Applications

More information

10.1109/ICInfA.2015.7279824

Cite this

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title = "Control system design and study for an automatic mobile robot",

abstract = "This paper designs a control system for an automatic handling mobile robot based on s3c2440, which can recognize environment by a laser sensor. And according to the fact that the accumulative error will increase with time in inertial navigation system and steering control is easy to be out of control for heavy robot using differential steering mechanism, two effective solutions are proposed. An inertial navigation algorithm is used for the automatic control of the robot, and an active trap system, including the generation device of magnetic field and detecting device, is designed for eliminating accumulative error. In order to improve steering control precision, a motion control algorithm is presented based on gyroscope and accelerometer. The results of experiments prove the validity of the presented control algorithm, and the navigation performance is improved.",

keywords = "Error Correction, Inertial Navigation, Laser Sensor, Mobile Robot, Motion Stability",

author = "Yuchun Song and Yangmin Li and Xiao Xiao",

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doi = "10.1109/ICInfA.2015.7279824",

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booktitle = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",

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note = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics ; Conference date: 08-08-2015 Through 10-08-2015",

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Song, Y, Li, Y & Xiao, X 2015, Control system design and study for an automatic mobile robot. in 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics., 7279824, IEEE, pp. 3118-3123, 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics, Yunnan, China, 8/08/15. https://doi.org/10.1109/ICInfA.2015.7279824

Control system design and study for an automatic mobile robot. / Song, Yuchun; Li, Yangmin; Xiao, Xiao.
2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics. IEEE, 2015. p. 3118-3123 7279824.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Control system design and study for an automatic mobile robot

AU - Song, Yuchun

AU - Li, Yangmin

AU - Xiao, Xiao

PY - 2015/9/28

Y1 - 2015/9/28

N2 - This paper designs a control system for an automatic handling mobile robot based on s3c2440, which can recognize environment by a laser sensor. And according to the fact that the accumulative error will increase with time in inertial navigation system and steering control is easy to be out of control for heavy robot using differential steering mechanism, two effective solutions are proposed. An inertial navigation algorithm is used for the automatic control of the robot, and an active trap system, including the generation device of magnetic field and detecting device, is designed for eliminating accumulative error. In order to improve steering control precision, a motion control algorithm is presented based on gyroscope and accelerometer. The results of experiments prove the validity of the presented control algorithm, and the navigation performance is improved.

AB - This paper designs a control system for an automatic handling mobile robot based on s3c2440, which can recognize environment by a laser sensor. And according to the fact that the accumulative error will increase with time in inertial navigation system and steering control is easy to be out of control for heavy robot using differential steering mechanism, two effective solutions are proposed. An inertial navigation algorithm is used for the automatic control of the robot, and an active trap system, including the generation device of magnetic field and detecting device, is designed for eliminating accumulative error. In order to improve steering control precision, a motion control algorithm is presented based on gyroscope and accelerometer. The results of experiments prove the validity of the presented control algorithm, and the navigation performance is improved.

KW - Error Correction

KW - Inertial Navigation

KW - Laser Sensor

KW - Mobile Robot

KW - Motion Stability

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Control system design and study for an automatic mobile robot

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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