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

: Mueller, F.; Wenzel, A.; Gehr, A.; Ament, C.


Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Control Applications, CCA 2010 : Yokohama, Japan, 8 - 10 September 2010; Part of 2010 IEEE Multi-Conference on Systems and Control (MSC)
New York, NY: IEEE, 2010
ISBN: 978-1-4244-5362-7
ISBN: 978-1-4244-5363-4
International Conference on Control Applications (CCA) <19, 2010, Yokohama>
Multi-Conference on Systems and Control (MSC) <2010, Yokohama>
Conference Paper
Fraunhofer IOSB ()

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.