ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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vol 67 / February, 2024
Article

DOI 10.17586/0021-3454-2022-65-9-656-667

UDC 004.052.42+681.518.5

COORDINATED WORK OF TWO MOBILE ROBOTS WHEN PERFORMING OPERATIONS AUTOMATICALLY IN A COMPLEX ENVIRONMENT

V. V. Filaretov
Institute of Automation and Control Processes of the RAS, Far Eastern Branch, Robotic System Laboratory;


A. A. Katsurin
Far Eastern Federal University, Department of Automation and Robotics; Institute of Marine Technology Problems of the Far Eastern Branch of the RAS, Laboratory of Intelligent Information Systems for Marine Robots; Senior Researcher


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Abstract. The problem of controlling a manipulator mounted on the main mobile robot performing operations in cramped working environment conditions when objects of work are out of sight of the robot's technical vision system, is considered. In this situation, location of the invisible objects is first determined using the technical vision system of an auxiliary and more maneuverable mobile robot in its associated coordinate system, and then this information is transmitted via communication channels with unavoidable errors to the associated coordinate system of the main manipulation robot. An algorithm is proposed to determine and eliminate the aroused errors, which as a result provides the possibility of accurate automatic execution of the required operations with the objects of work. The proposed mathematical apparatus allows for accounting variations in current spatial orientation of the base platforms of both mobile robots at the angles of roll, pitch and yaw in the absolute coordinate system. The results of experiments confirming the operability and high efficiency of the proposed method of coordinated automatic operation of two mobile robots in cramped environmental conditions are presented.
Keywords: mobile robot, group control, control system, manipulator, vision system

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