PWM control for a micro-robot moving on a discrete curvature trajectory set

Grigoris Lionis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2324-2329
Number of pages6
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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