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In this paper, the framework of hierarchical parallel control architecture based on competitive mechanism is highlighted to present reconflgurable hardware logic and algorithms of network-based motor control, and application for the open mobile robot's control system is demonstrated to address a special kind of strong coupling of mechanical and electrical hardware, the interchange of propulsive wheel...
Design and realization of a self-developed mobile robot for inspecting high voltage overhanging transmission lines is introduced in this paper. The critical technologies involve five parts: self-governing strategy, the integrated detection based on infrared and visible imaging system, the infrared electric-magnetic system for nondestructive testing of obstacles such as the transmission line joint...
A mobile robot prototype with independent propulsion and individual steering (4WD4WS)has been developed. The mission-oriented mobile robot has the adaptability of terrain, sensors and payload with the scope of 20 kilograms. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin and altitude of center of gravity can be achieved by reconfiguration. A wheel with high...
Real-time collision free path planning involves avoidance of static as well as dynamic objects in unknown environment. Strategies suitable for stationary navigation cannot be suitable for the dynamic environment. Behavior-based control combined with fuzzy control to avoid dynamic and static obstacle is described in this paper. Behavior-based control helps the robot get over complex static environment...
When autonomous mobile robot is navigating in an unknown environment, the difficulty is avoiding unexpected objects on its way to the goal. This paper presents a new parallel double-layered control system of an autonomous mobile to avoid static or dynamic objects in uncertain environments. Fuzzy control system is a simple way to lay out robot tracking rapidly. The fuzzy control system is consistency...
A mobile robot with reconfigurable locomotion chassis and bionic reconfigurable wheel rim is introduced. The configuration of its control system based on network-driven DC motors and PC 104 computer and relevant on-board technology are presented. The result shows that the mobile robot is a better test platform for diversified task of mobile robot navigation and localization in uncertain environment
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