Martin Seyr

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— For a two-wheeled differentially driven mobile robot a navigation and slip control algorithm is developed. The presented concept for purely proprioceptive navigation combines state estimation via extended Kalman filter from inertial sensor data (i.e. gyro and acceleration sensors) and odometric measurements (i.e. wheel angular encoders). The advantages of(More)
As a prerequisite for precise trajectory tracking of a two-wheeled mobile robot, accurate control of the velocity and the curvature along a predefined trajectory is vital. After offline training, a neural network is used for nonlinear predictive control. To make the system more robust against modeling inaccuracies and other disturbance influences, the(More)
— Well designed path planning algorithms are the key factor for moving robots. This paper describes a novel simple approach based on kinematics. The testing bed is a tiny two-wheeled robot. The robot's movement is specified by its translatoric velocity v R and its angular velocity ω R. The kinematic approach generates piecewise circular arcs based on a(More)
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