The Tinyphoon's Control Concept

Control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of realtime communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control