Real model - Khepera II

• miniature mobile robot with differential chassis based on two independenty controled wheels and one uncontoled wheel that secure model stability
• modularity of model - both hardware and software level
• library of applications for mobile robot control
• multiple development environments support - C, Matlab, SysQuake LabVIEW, and other enviroments that enables comunication via serial port
• suitable for study and experiments related to the theory of control systems, navigation, multi-agent systems, etc.

Mathematical - physical model - Khepera II - Simulation model

• Simulation model inspired by real Khepera II model
• Mobile robot model is divided into to subsystems - to kinematic model subystem and dynamic model subsystem.
• Kinamatic model allows to set position defined by x, y coordinates and rotation θ of the mobile robot under condition, that the inital state of the robot is known and current wheel speed for both wheels v_L, v_R are also known.
• Dynamic model includes frictional forces F_L, F_R that are affecting non wheels and and the total weight of the robot m.
• Model is programed in Matlab/Simulink enviroment

Img.1 Scheme of the model mechanical construction

System description of the model

• Control inputs

• input volatage U_L, U_R.

• Measured outputs

• robot position x, y and its rotation θ.

Img.2.: System description of the model

Using the model in pedagogy

• Courses

• Control and Artificial Intelligence (CAI) (1st grade master degree)

• bachelor thesis

• diloma (master) thesis

• FIC, Ján: Control of mobile robot Khepera II using artifiacial intelligence methods:
  (supervisor and consultant DP: doc. Ing. Anna Jadlovská, PhD.) - 2009

Using the model in research

• PhD works

• Čerkala, Jakub: A contribution to the modeling and control of robotic systems using artificial intelligence methods:
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2013 (in preparation)
• ŠUSTER, Peter: Design of effective software tools for control and analyze non-linear systems:
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2012 (in preparation)

• Publications

• 2011
   

  ŠUSTER, P. - JADLOVSKÁ, A.: Tracking Trajectory of the Mobile Robot Khepera II Using Approaches of Artificial Intelligence, Acta Electrotechnica et Informatica, No.1., Vol.11, 2011, Košice, pp. 38-43, Slovak Republic, ISSN 1335-8243, www.versita.com/aei  
  
  

• 2010
   

  ŠUSTER, P., JADLOVSKÁ, A.: Neural tracking trajectory of the mobile robot Khepera II in internal model control structure / - 1 electronical optical disc (CD-ROM). In: Process Control 2010 : 9th International Conference : June 7 - 10, 2010, Kouty nad Desnou, Czech Republic. - Brno : Tribun EU, 2010. - ISBN 978-80-7399-951-3. - P. C153a-1-C153a-13.