DEVELOPMENT OF SENSING AND CONTROL ALGORITHMS FOR COLLABORATIVE MOBILE ROBOTS WITH HYBRID HOLONOMY
Reference for citation: Zakharov D. N., Panin A. D., Yaremenko A. M., Aliev D. R., Borisov O. I. Development of sensing and control algorithms for collaborative mobile robots with hybrid holonomy. Journal of Instrument Engineering. 2025. Vol. 68, N 5.
P. 456–460 (in Russian). DOI: 10.17586/0021-3454-2025-68-5-456-460.
Abstract. The development of control and sensing algorithms for collaborative mobile robots with hybrid holonomy is discussed. A mobile platform with a roller locking device providing transition between omnidirectional and all-wheel drive modes is considered. The system structural diagram, control algorithms for the motors and the locking device, and the method for processing data from sensors are presented.
Abstract. The development of control and sensing algorithms for collaborative mobile robots with hybrid holonomy is discussed. A mobile platform with a roller locking device providing transition between omnidirectional and all-wheel drive modes is considered. The system structural diagram, control algorithms for the motors and the locking device, and the method for processing data from sensors are presented.
Keywords: mobile robot, hybrid holonomy, collaborative systems, control algorithms
Acknowledgement: the work was carried out with financial support from the Russian Science Foundation (project No. 25- 29-00713).
References:
Acknowledgement: the work was carried out with financial support from the Russian Science Foundation (project No. 25- 29-00713).
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