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Proceedings Paper

Speed control for a mobile robot
Author(s): Kaylan Chakravarthi Kolli; Sreeram Mallikarjun; Krishnamohan Kola; Ernest L. Hall
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Paper Abstract

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Paper Details

Date Published: 26 September 1997
PDF: 7 pages
Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); doi: 10.1117/12.290282
Show Author Affiliations
Kaylan Chakravarthi Kolli, Univ. of Cincinnati (United States)
Sreeram Mallikarjun, Univ. of Cincinnati (United States)
Krishnamohan Kola, Univ. of Cincinnati (United States)
Ernest L. Hall, Univ. of Cincinnati (United States)


Published in SPIE Proceedings Vol. 3208:
Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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