Mobile Robot Motion Control
Main functionalities
This module consists of two sub-modules, each performing different motion control tasks.
Open-loop motion control: the main functionality of this sub-module is to perform different pre-programmed or time-controlled movement patterns.
Machine vision-based closed-loop motion control: the main functionality of this sub-module is to implement closed-loop motion control algorithms based on machine vision calculations executed on images.
In case this module is in operation, i.e., the robot control software for the use case demonstration is operated by the end-user, then the end-user cannot perform any modification on this module since this module is part of the robot control software. In case this module is included in another robot control software (developed by third-party SME), then a software developer can implement movement algorithms using open-loop or closed-loop control.
The module is already available in source code and as a part of a standalone desktop application by contacting the authors of this description.
The module as a source code is available both for internal and external use.
The typical application scenarios for this module are the following:
• Motion control of mobile robots.
• Intralogistics.
Technical specifications
This module is created with LabVIEW™ software.
The Open-loop motion control sub-module doesn’t require any hardware.
The Machine vision-based closed-loop motion control sub-module requires the Festo Robotino® v2 equipped with 3 optical proximity switches. Two optical proximity switches are the same optical proximity switches as in the Optical line following sub-module and one additional optical proximity switch is required to be mounted on the front of the Robotino® and connected to the DI2 input of the Robotino®.
The Machine vision-based closed-loop motion control sub-module requires the Object detection by chromatic discrimination sub-module.
Inputs and outputs
Open-loop motion control
• Inputs: rotational and linear speeds, the amount of time while the module is executing.
• Outputs: movement speeds for the Robotino®.
Machine vision-based closed-loop motion control
• Inputs: image, HSL parameters of all objects to be detected, HSL parameters of the targeting markers, minimum number of pixels, DI0:3 inputs from the Robotino® (see 8.4.1. Figure).
• Output: movement speeds for the Robotino®.
Formats and standards
The JPEG image format and the HSL color space representation is used in this module
Owner (organization)
Budapest University of Technology and Economics
Trainings
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Mobile robot motion control