Article 6419

Title of the article

A MOBILE ROBOT MOVEMENT CONTROL SYSTEM IN ENCLOSED SPACE BASED ON THE ULTRASONIC SYSTEM DATA 

Authors

Boryak Sergey Vasil'evich, Postgraduate student, Penza State University (40 Krasnaya street, Penza, Russia), E-mail: boosoov@gmail.com 

Index UDK

681.5.01 

DOI

10.21685/2072-3059-2019-4-6 

Abstract

Background. The research object is a system for controlling the movement of mobile robots. The research subject is the methods for finding the optimal path and an algorithm for following a mobile robot along a constructed path using an absolute navigation system. The aim of the work is to develop a control algorithm that allows this system to increase accuracy compared to a system using a relative positioning system
Materials and methods. The study was conducted using the Matlab environment, a physical model of a mobile robot, an ultrasonic navigation system, and optimal path searching methods.
Results. A mobile platform control algorithm has been proposed to minimize positioning error at a given point.
Conclusions. The proposed system composition and control algorithm can improve the accuracy of mobile robot positioning compared to relative positioning systems. 

Key words

algorithms, navigation, optimal path, mobile robot 

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References

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Дата создания: 12.03.2020 09:57
Дата обновления: 13.03.2020 10:53