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Embedded control design of a mobile robot system: Results on a robust localization module

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4 Author(s)
Mueller, F. ; Fraunhofer Applic. Center Syst. Technol., Inst. of Optronics, Syst. Technol. & Image Exploitation (IOSB-AST), Ilmenau, Germany ; Wenzel, A. ; Gehr, A. ; Ament, C.

This paper presents the embedded control design of the mobile robot system “Quanjo TDS”. Its control architecture combines software control aspects as well as an appropriate hardware layout in an overall concept. Related to this the results of an embedded, adaptive localization module incorporating a slip-free speed sensor are presented, which is an essential part of the modularized control concept.

Published in:

Control Applications (CCA), 2010 IEEE International Conference on

Date of Conference:

8-10 Sept. 2010