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Journal of Applied Sciences

Year: 2007 | Volume: 7 | Issue: 14 | Page No.: 1854-1863
DOI: 10.3923/jas.2007.1854.1863
Survey and Implementation on DSP of Algorithms of Robot Paths Generation and of Numeric Control for Mobile Robot
Kais Bouallegue and Abdessattar Chaari

Abstract: In this study, one propose to study a numeric type strategy permitting the generation of any shape of path in view of the scheduling of the trajectories for a car-like mobile robot where the planned motions considered are continuous sequences in the space of the robot. These paths are programmed in order to have some types of closed or open trajectories. One is interested in the motion control of the robot from an initial position to a final position while optimizing the consumed energy in its alternated circular motion on both sides of the segment joining these two points. In this study, one presents a new method based on a numeric approach conceived from the kinematics equations of the robot. This new technique of numeric, adaptive and dynamic control of the robot is implemented on DSP21065L of the SHARC family. This algorithm assures the robot control of an initial position of departure to a final position of arrival without the existence of obstacles.

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How to cite this article
Kais Bouallegue and Abdessattar Chaari, 2007. Survey and Implementation on DSP of Algorithms of Robot Paths Generation and of Numeric Control for Mobile Robot. Journal of Applied Sciences, 7: 1854-1863.

Keywords: Dynamical system, numeric control, car-like mobile robot, curvature and DSP SHARC

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