TY - GEN
T1 - PWM control for a micro-robot moving on a discrete curvature trajectory set
AU - Lionis, Grigoris
AU - Kyriakopoulos, Kostas J.
PY - 2007
Y1 - 2007
N2 - In this paper we study the problem of controlling a micro robot which moves either on a line or on circle of predetermined radius. Locomotion constraints of this type are usual in micro robots, and therefore, it is important to have efficient and easy to implement ways of coping with these constraints. To solve the problem we present a multilevel motion controller that can be easily implemented on a robot with scarce computational resources as it does not rely on complex logical operations. It reduces the kinematics of the micro robot to the kinematics of a unicycle, screening in effect the micro behavior from the high level planner. Simulated results are provided to verify the proposed methodology.
AB - In this paper we study the problem of controlling a micro robot which moves either on a line or on circle of predetermined radius. Locomotion constraints of this type are usual in micro robots, and therefore, it is important to have efficient and easy to implement ways of coping with these constraints. To solve the problem we present a multilevel motion controller that can be easily implemented on a robot with scarce computational resources as it does not rely on complex logical operations. It reduces the kinematics of the micro robot to the kinematics of a unicycle, screening in effect the micro behavior from the high level planner. Simulated results are provided to verify the proposed methodology.
UR - http://www.scopus.com/inward/record.url?scp=36348944612&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348944612&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363666
DO - 10.1109/ROBOT.2007.363666
M3 - Conference contribution
AN - SCOPUS:36348944612
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2324
EP - 2329
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -