Entwicklung einer Programmbibliothek für Modulare Mobile Roboter (2012)
Project Leader: Christoph Gruber
Funding: Tyrolean Science Fund (TWF), Austria
Approval date: 2.2.2012
Start of Project: 27.5.2011
Modellbasierte Regelung für rekonfigurierbare mobile Roboter (2007-2010)
Project Leader: Univ.-Prof. Dr. Michael Hofbaur
Funding: FWF (Fonds zur Förderung der wissenschaftlichen Forschung), Austria
Approval date: 26.06.2007
Start of Project: 01.10.2007
End of Project: 31.12.2010
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The aim of the project is to develop a model-based control framework for wheeled mobile robots that robustly actuates a mechatronic robot drive with several steered wheels. Basis for the controller is a drive model that details the geometric wheel alignement and the dynamic behavior of the wheel's steering and angular-speed actuation for the operational and some fault conditions. The proposed control framework uses this model to solve two major tasks through on-line reasoning methods that build upon theoretical kinematics, systems-analysis, filtering- and diagnosis techniques, as well as control-theory. The first task should provide the current mode of operation or failure for every individual wheel and the robot as a whole. The result can then be used to derive the kinematic constraints for this specific mode and to deduce the coordinated actuation for the rotational speed and steering angle for each individual wheel. This on-line utilization of the robot drive's model enables the proposed control system to autonomously adapt itself in order to overcome fault conditions such as the loss of steering/actuation or traction of individual wheels but equally well handles changed operational conditions such as retracted wheels or a dynamically changed drive geometry.
Modellbasierte Regelung für rekonfigurierbare mobile Roboter is a research project that startet at the Institute of Automation and Control, TU Graz (Austria) in 10/2007 with continuation at the Institute of Automation and Control Engineering, Private University for health sciences, medical informatics and technology UMIT (Austria) from 01/2010 onwards. It is funded by FWF (Fonds zur Förderung der wissenschaftlichen Forschung), Austria under project numberP20041-N15.
With support from: