Increasing the Position Tracking Accuracy of an Autonomous Mobile Minirobot, an Essential Condition for the Remote Command and Control of the Motions

Abstract

In the paper there are presented the results of an applicative research whose object was to increase the position tracking accuracy of a crawler mobile minirobot. Both the minirobot's position tracking in the operating space and the commands of the electric micromotors for driving the active wheels causing the motion, are made via remote control by two main components of a complex automated command system, an optoelectronic installation for position tracking a luminous mark on the minirobot, respectively a control system of a virtual minirobot - a counterpart of the real one in a virtual space. The communication architecture and the used technologies, created the possibility to control the minirobot without using physical connections both locally, and remotely via the Internet. The improvement of the minirobot's position tracking performance proved its efficiency through the correctness of the de command decisions for the trajectories, and also through the correctness of their execution.