ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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6
Issue
vol 62 / June, 2019
Article

DOI 10.17586/0021-3454-2015-58-9-738-741

UDC 62-62-519

ALGORITHMS OF CONTROL OVER FOUR-WHEEL ROBOT MOVING OVER ROUGH TERRAIN

Y. V. Litvinov
St. Petersburg State University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics;


M. I. Evstigneev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


V. V. Mazulina
Technical University of Eindhoven, Eindhoven, 5600MB, Netherlands; postgraduate


G. M. Мishchenko
ITMO University; Department of Computer Science and Control Systems; Graduate Student


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Abstract. An algorithm of control over mobile robot is considered for the case of unknown obstacles on the route. Identification of an obstacle is carried out with the use of a technical vision system. A model based on four-wheel motorcar-type chassis is used as an example of mobile robot.
Keywords: mobile robot, obstacle identification, technical vision