RERNGWUT CHOOMUANG - Academia.edu (original) (raw)
Uploads
Papers by RERNGWUT CHOOMUANG
2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006
In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf co... more In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf controller such as: LM629 etc. to setup a PID control loop for each individual motor on the wheel. The drawback of such approach is the unbalanced synchronization of the controllers because the programmer has to send a series of command bytes to each controller individually one by
2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
The achievement in VLSI technology has changed the old style single CPU integration into new conc... more The achievement in VLSI technology has changed the old style single CPU integration into new concept of Distributed Control on multiple controllers which emphasis on the data communication between controllers. The main CPU sends command(s) and retrieves data/status from the slave controller(s) and the slave controller(s) act accordingly, as the result, two major impacts had occurred, the hardware design is much simpler, it can be designed into a much simpler basic unit and it can be duplicated throughout the system for any equivalent job. Even though the jobs, may vary based on various functionalities, only minor additional hardware had been added to cover all the extra features. The major improvement is in the software development cycle, it has been cut drastically from months/year to just only week(s). This paper is a good example of an effort to implement the Distributed Control concept into a model of scaled-down Mars Rover Spirit which in turn simplifies the overall design (both hardware and software) and allows the designer to easily add more software features such as: machine learning, artificial intelligence, etc. to the robot in the future.
International Journal of Advanced Robotic Systems, 2005
This paper describes position control of autonomous mobile robot using combination of Kalman filt... more This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection. The odometry errors due to systematic-errors (such as unequal wheel diameter, the effect of the encoder resolution etc.) and/or non-systematic errors (ground plane, wheel-slip etc.) contribute to various motion control problems of the robot. During the robot moves, whether straight-line and/or arc, create the position and orientation errors which depend on systematic and/or non-systematic odometry errors. The main concern in most of the navigating systems is to achieve the real-time and robustness performances to precisely control the robot movements. The objective of this research is to improve the pos...
2008 IEEE International Conference on Mechatronics and Automation, 2008
... Both initiation processes are executed once at the program start-up. The master and slave hos... more ... Both initiation processes are executed once at the program start-up. The master and slave host monitors all of physical devices: PMAC ISA card, PCI I/O card, and force/toque data acquisition board. ... 495. [12] MD Douglas C. Schmidt , and Carlos O'Ryan, "Operating System ...
2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006
In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf co... more In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf controller such as: LM629 etc. to setup a PID control loop for each individual motor on the wheel. The drawback of such approach is the unbalanced synchronization of the controllers because the programmer has to send a series of command bytes to each controller individually one by
2008 IEEE Conference on Robotics, Automation and Mechatronics, 2008
The achievement in VLSI technology has changed the old style single CPU integration into new conc... more The achievement in VLSI technology has changed the old style single CPU integration into new concept of Distributed Control on multiple controllers which emphasis on the data communication between controllers. The main CPU sends command(s) and retrieves data/status from the slave controller(s) and the slave controller(s) act accordingly, as the result, two major impacts had occurred, the hardware design is much simpler, it can be designed into a much simpler basic unit and it can be duplicated throughout the system for any equivalent job. Even though the jobs, may vary based on various functionalities, only minor additional hardware had been added to cover all the extra features. The major improvement is in the software development cycle, it has been cut drastically from months/year to just only week(s). This paper is a good example of an effort to implement the Distributed Control concept into a model of scaled-down Mars Rover Spirit which in turn simplifies the overall design (both hardware and software) and allows the designer to easily add more software features such as: machine learning, artificial intelligence, etc. to the robot in the future.
International Journal of Advanced Robotic Systems, 2005
This paper describes position control of autonomous mobile robot using combination of Kalman filt... more This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection. The odometry errors due to systematic-errors (such as unequal wheel diameter, the effect of the encoder resolution etc.) and/or non-systematic errors (ground plane, wheel-slip etc.) contribute to various motion control problems of the robot. During the robot moves, whether straight-line and/or arc, create the position and orientation errors which depend on systematic and/or non-systematic odometry errors. The main concern in most of the navigating systems is to achieve the real-time and robustness performances to precisely control the robot movements. The objective of this research is to improve the pos...
2008 IEEE International Conference on Mechatronics and Automation, 2008
... Both initiation processes are executed once at the program start-up. The master and slave hos... more ... Both initiation processes are executed once at the program start-up. The master and slave host monitors all of physical devices: PMAC ISA card, PCI I/O card, and force/toque data acquisition board. ... 495. [12] MD Douglas C. Schmidt , and Carlos O'Ryan, "Operating System ...