|
St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Systems, 2014, Issue 6(210), Pages 49–58
(Mi ntitu85)
|
|
|
|
System Analysis and Control
The mobile robot motion control algorithms for the pursuit problem
S. F. Burdakov, P. A. Sizov St. Petersburg Polytechnic University
Abstract:
The paper suggests the mobile wheeled robot motion control algorithms for the pursuit problem which allow implementing control when the information about the pursued robot motion is incomplete. Kinematic equations with state variables are used as the control target. Linear and angular velocities are consideredas the pursuing robot controls. Linear and angular velocities are perturbations of uncertain nature for the pursued robot. Algorithms with feedback are based on the method of compensation and classical approach to control systems astatism. Lyapunov's methods are used in the stability analysis for the closed loop system, as well as to adjust the control algorithms. The theoretical results are confirmed by computer simulation.The trajectories and plots of the processes in the closed loop system are presented for the case of the random maneuvers of the pursued robot. There are shown the reversionary trajectories of the pursued robot in casethe pursuing robot does not reach the target.
Keywords:
mobile robot, pursuit problem, Lyapunov's method, control algorithms, incomplete information, robustness, simulation.
Citation:
S. F. Burdakov, P. A. Sizov, “The mobile robot motion control algorithms for the pursuit problem”, St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Sys, 2014, no. 6(210), 49–58
Linking options:
https://www.mathnet.ru/eng/ntitu85 https://www.mathnet.ru/eng/ntitu/y2014/i6/p49
|
Statistics & downloads: |
Abstract page: | 481 | Full-text PDF : | 230 |
|