Research Article
Design and Steering Control of a Center-Articulated Mobile Robot Module
Algorithm 2
The control algorithm to steer the robot.
Step 1: , , and angles are computed, based on the position of | the beacons received from the Image Processing application. | (The angles are confined to ) | Step 2: Feedback parameters are computed, | Step 3: Control signals are computed, based on | equations (25),(26). | Step 4: If the control signals exceed their limits, they are set | to their maximum allowable values. | Step 5: The computed control signals are scaled, and sent to the | control-board. | Step 6: Once a new image frame arrives, Steps 1–5 are repeated. |
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