Atoms based control of mobile robots with Hardware-In-the-Loop validation - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2015

Atoms based control of mobile robots with Hardware-In-the-Loop validation

Abstract

Mobile robots are nowadays used in a wide variety of missions especially for exploring environments and allowing scientists who study these environments to gather data about them. However the monolithic design of control laws is often a hindrance to adapting control solutions from a robotic application to another. We thus propose a new control description paradigm strongly focused on modularity as well as integrating constraints coming both from the system capabilities and from the concerns of control engineering (such as stability). In this paper, we present the main ideas behind our approach and illustrate it through Hardware-In-the-Loop simulation.
Fichier principal
Vignette du fichier
iros2015_final_976.pdf (1.33 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

lirmm-01310983 , version 1 (03-05-2016)

Identifiers

Cite

Adrien Lasbouygues, Benoît Ropars, Robin Passama, David Andreu, Lionel Lapierre. Atoms based control of mobile robots with Hardware-In-the-Loop validation. IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1083-1090 ⟨10.1109/IROS.2015.7353505⟩. ⟨lirmm-01310983⟩
172 View
351 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More