Real-time Control System for a Tracked Robot

摘要

In this paper the designing of a mobile tracked robot's real-time control system is considered. The developed system embodies algorithms for the robot's remote control, or its autonomous movement to the target with an obstacle avoidance, with simultaneous localization and mapping in real time. To implement the control system, the real-time operating system ChibiOS and the operating system for robots ROS are used.