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2007
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Remote Low Frequency State Feedback Kinematic Motion Control for Mobile Robot Trajectory Tracking

10 years 6 months ago
Remote Low Frequency State Feedback Kinematic Motion Control for Mobile Robot Trajectory Tracking
— Teleoperated robots generally receive high level commands from a remote system, while accomplishing motion control through conventional means. We present a teleoperated system that removes the entire motion control structure from the robot, in order to preserve the availability of crucial onboard resources. The operation of state feedback control is performed by a system remote from the robot. We have designed a computerized motion planning and control system for Mobile Emulab, and in this article, discuss the implementation of trajectory tracking control. A component of the Emulab network testbed, Mobile Emulab is used for wireless network experiments requiring mobility; and is publicly available to remote researchers via the Internet. Medium scale wheeled mobile robot couriers are used to move wireless antennas within a semi-controlled environment. Experimenters use a web-based GUI to specify desired paths and configurations for multiple robots. State feedback is provided by an ...
Daniel Montrallo Flickinger, Mark A. Minor
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Daniel Montrallo Flickinger, Mark A. Minor
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