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Tham khảo tài liệu 'recent advances in mechatronics - ryszard jabonski et al (eds) episode 1 part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 64 W Panfil P. Przystalka M. Adamczyk The SIMULINK part of the framework consists of Stateflow charts each concerning one of the following behaviors turn left turn right obstacle avoidance right wall following and so on. Every chart behavior obtains the following types of information. The first is a distance between the robot and obstacles coming from eleven infrared sensors. The second one is the information from three axes of the accelerometer about the orientation of the robot. There is also available data a few features of the image computed by the recognizing subsystem from a camera mounted on the front of the robot. Furthermore the charts are provided with information about the current intensity of the motors level of the battery charge and the most important the planned tasks. Basing on the mentioned information each chart generates information about the linear velocity of point S and the turning radius R for its behavior. This information serves as input for a kinematical model of the robot. It enables to compute a turning angle and angular velocity of every wheel of the robot. 2.3. Kinematics of the robot Below presented is a conception which allows determining the kinematical rules for the movement of the robot. Basing on the geometry of the robot there was assumed that the robot consists of the main body of 200x200 mm LxB dimensions and four driving units. Each driving unit is an assembly of a motor and driving wheel of radius Rw 30 mm . Of course it is a quite big simplification - main body and driving units consist of many other parts. Each driving unit has two degrees of freedom. The motor drives the driving wheel. Furthermore every driving unit can rotate round axes passing through points A B C D perpendicular to axes of the wheels. The wheel base is l 160 mm and wheel track is b 160 mm . The base for the next considerations is an assumption that the robot is controlled by two parameters the linear velocity of the point S and the turning radius R. It
