Journal
Scientific and technical journal of information technologies, mechanics and optics
UDK62.50
Issue:2 (90)
Download PDF0 Kbyte
DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT
Annotation
The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.
Keywords
Постоянный URL
Articles in current issue
- FROM THE HISTORY OF LASER CREATION
- DYNAMIC ESTIMATION FOR PARAMETERS OF INTERFERENCE SIGNALS BY THE SECOND ORDER EXTENDED KALMAN FILTERING
- IMPLEMENTATIONS AND PRACTICAL APPLICATIONS OF HYPERBOLIC METAMATERIALS
- OPTICAL DEFLECTOR CREATION FOR LASER THERAPEUTIC DEVICES
- PROXIMITY DEGREE FOR SIMPLE AND MULTIPLE STRUCTURES OF THE EIGENVALUES: OVERSHOOT MINIMIZATION FOR FREE MOTION TRAJECTORIES OF APERIODIC SYSTEM
- TRUST MODEL FOR INFORMATION SECURITY OF MULTI-AGENT ROBOTIC SYSTEMS WITH A DECENTRALIZED MANAGEMENT
- INFORMATION SECURITY ASSESSMENT FOR MULTI-AGENT ROBOTIC SYSTEM UNDER THE INFORMATION IMPACT
- TRAJECTORY CONTROL OF A SOLID BODY RELATIVE TO THE MOVABLE OBJECT
- STABILITY OF LINEAR MULTIAGENT SCALAR SYSTEMS AND ITS DEPENDENCE ON CONNECTIVITY GRAPH
- ADAPTIVE CONTROL OF TWO-LINK ROBOT MANIPULATOR BASED ON THE METHOD OF CONSECUTIVE COMPENSATOR
- INVESTIGATION OF MICRO AND NANOSTRUCTURE OF HYDROPHOBIC PLANTS SURFACE
- APPLICATION OF THE DIRECTED MUTATION TO CELLULAR AUTOMATA GENERATION PROCESS
- EXPRESS METHOD OF BARCODE GENERATION FROM FACIAL IMAGES
- THREE-MOMENT BASED APPROXIMATION OF PROBABILITY DISTRIBUTIONS IN QUEUEING SYSTEMS
- TECHNIQUE OF OPTIMAL AUDIT PLANNING FOR INFORMATION SECURITY MANAGEMENT SYSTEM
- METHODS FOR QUALITY ENHANCEMENT OF USER VOICE SIGNAL IN VOICE AUTHENTICATION SYSTEMS
- NETWORK SERVICES FOR DIAGNOSTIC OPTODIGITAL COMPLEX FOR TELEMEDICINE
- THERMAL SIMILARITY OF SPACE OBJECTS OF STANDARD CONFIGURATIONS
- THERMAL PROTECTION AND THERMAL STABILIZATION OF FIBER-OPTICAL GYROSCOPE INCLUDED IN STRAPDOWN INERTIAL NAVIGATION SYSTEM
- MONOBLOCK EMITTERS FOR MELTING OF SYNTHETIC FATTY ACIDS
- MULTI-AGENT APPROACH IN PREDICTION OF RELIABILITY PARAMETERS FOR ELECTRONIC MODULES
- SELECTION OF INFORMATION PROTECTION SYSTEM BY ENSURING THE COMPETITIVENESS OF ENTERPRISES
- THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM OF ROBOTICS OBJECTS
- THE SYSTEM OF TECHNICAL VISION IN THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM
- VIRTUAL COGNITIVE CENTERS AS INTELLIGENT SYSTEMS FOR MANAGEMENT INFORMATION SUPPORT OF REGIONAL SECURITY
- LASER SCANNING APPLICATION FOR DETECTION OF HUMAN POSTURE DISTORTION DURING MASS EXAMINATIONS
- CONCEPTUAL EXTENSION OF WEB SERVICES FUNCTIONAL DESCRIPTION
- TIMELINESS ASSESSMENT FOR IMPLEMENTATION OF THE CRITICAL REQUESTS IN TWO-LEVEL CLUSTERS