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What is Embedded Motion Control for Robots about?

This document discusses an embedded system for motion control of an omnidirectional mobile robot. The system uses a fuzzy-tuned proportional–integral (PI) path planner as a high-level controller to monitor robot position using vision feedback. A linear quadratic regulator (LQR) is used as a low-level optimal controller to control wheel speeds using motor encoder feedback. The combined fuzzy-PI and LQR controller is shown to provide more precise motion control compared to a traditional PI controller. The emb

Author

dijnana

Language

EN