ABOUT THE CONTROL OF HIGH SPEED MOBILE INDOOR ROBOTS
Kai Lingemann, N Andreas, Joachim Hertzberg, Hartmut Surmann, Schloss Birlinghoven · 2005
This paper describes the control algorithms of the high speed mobile robot Kurt3D. Kurt3D drives up to 4 m/s autono-mously and reliably in an unknown ofce environment. We present the reliable hardware, fast control cycle algorithms and a novel set value computation scheme for achieving these velocities. In addition we sketch a real-time capable laser based position tracking method that is well suited for driving with these velocities. 1.