In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting
all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous
robots is a challenging and complex task. With a number of existing architectures and tools to choose from,
a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic
architectures. A classification of the existing robotic architectures and comparison of different proposals
attributes and properties have been carried out. The paper also provides a view on the current state of
designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for
mobile autonomous robots.
Alatise, Mary B.; Hancke, Gerhard P.(MDPI Publishing, 2017-09-21)
Using a single sensor to determine the pose estimation of a device cannot give accurate
results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which
comprises the 3-axis of an ...
The problem of determining an optimal trajectory for an autonomous mobile robot in an environment with obstacles is considered. The Leapfrog approach is used to solve the ensuing system of equations derived from the ...
Kemp, Petrus Daniel(University of Pretoria, 2007-06-19)
This dissertation deals with the control, guidance and stabilisation of nonlinear, non¬holonomic systems. It is shown that the kinematics of the system can be separated from the dynamics of the system by using successively ...