ROBUST CONTROL OF MOBILE ROBOTS WITH THE USE OF TECHNICAL VISION
St. Petersburg National Research University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics; Post-Graduate Student
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Full Professor, Dean
I. B. Furtat
ITMO University, Saint Petersburg, 197101, Russian Federation; Institute of Problems of Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Full Professor; Head of Department, Chief Researcher
S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
M. O. Surov
St. Petersburg National Research University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics;
A. A. Vedyakov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
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Abstract. Control of three-wheeled omnidirectional mobile robot using a control algorithm “serial compensator” is considered. The robot motion along an unknown trajectory feedback is provided by a technical vision system.
Keywords:
mobile robot, technical vision, robust control.
