Supervisory position control for wheeled mobile robot

摘要

This paper focuses on the design of supervisory position control system for the Wheeled Mobile Robot (WMR) called Robotino. The target is to perform a position control using the behavior-base control strategy. The main advantage of this strategy is the division of the complex control task into sub simple tasks. The suggested supervisory system is a PC based and is designed using Lab VIEW software instead of the Robotino View software. Lab VIEW has many advantages like good graphical user interface and could be linked and integrated with other specialized software or different robotic systems. The simulation of the proposed system based on the deduced kinematic model of the Robotino WMR is carried out. Moreover, the proposed system is implemented practically on the Robotino WMR. The simulation and experimental results have shown an enhanced behavior with an acceptable performance.