Steering control system for a mobile robot

Kaylan Chakravarthi Kolli; Ernest L. Hall

doi:10.1117/12.290289

26 September 1997 Steering control system for a mobile robot

Kaylan Chakravarthi Kolli, Ernest L. Hall

Proceedings Volume 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling; (1997) https://doi.org/10.1117/12.290289
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe the design of a steering mechanism for an autonomous mobile robot. The steering mechanism replaces a manually turned rack and pinion arrangement with a crank mechanism driven by a linear actuator that in turn is powered by a brushless dc motor. The system was modeled, analyzed, and redesigned to meet the requirements. A 486 computer through a 3-axis motion controller supervises the steering control. The steering motor is a brushless dc motor powered by three phase signals. It is run in current loop mode. The steering control system is supervised by a personal computer through a multi-axis motion controller. Testing of these systems has been done in the lab as well as on an outside test track with positive results.

Citation Download Citation

Kaylan Chakravarthi Kolli and Ernest L. Hall "Steering control system for a mobile robot", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); https://doi.org/10.1117/12.290289

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