Real time controller for a nonholonomic mobile robot

In this paper the usage of controller implemented in real time operating system (RTAI Linux) for nonholonomic robot control is presented. The multilayer controller enables user interaction for on-line performance visualization and setting of parameters for reference trajectory and control algorithm. To verify and present capabilities of the controller, a kinematic oscillator algorithm was chosen, which has nontrivial computing requirements. The algorithm's parameters used to control real object were set during simulations performed with described controller. The paper presents results of simulations and real robot behavior experiments as well.