Real-time microprocessed system applied to mobile robots control

摘要

This paper presents a low cost micro-processed system developed for real-time control of omnidirectional mobile robots. The control strategy is designed on cascade form, being used in a lower level, discrete PI for control of wheels speed, and at a higher level, a kinematic controller for the acquisition of poses references for the robots. The central processing unit is designed with the microcontroller PIC32 and supervisory system is implemented through software Lazarus IDE running under the Linux platform. Practical results are provided to demonstrate the system's performance on real-time trajectory tracking.