ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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6
Issue
vol 60 / JUNE, 2017
Article
UDC 681.51.015

ALGORITHM OF CONTROL OVER WHEELED MOBILE ROBOT MOVEMENT IN THE PROBLEM OF EXTERNAL SYSTEM MONITORING

G. I. Boltunov
St. Petersburg National Research University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics; Senior Scientist


A. V. Lyamin
ITMO University; Head of Distance Learning Center


A. I. Petrik
St. Petersburg National Research University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics; Post-Graduate Student


Abstract.   The problem of control over autonomous wheeled mobile robot moving in a complex dynamic environment is considered. A mathematical model of wheeled mobile robot is developed and analyzed. An control algorithm for robot movement along a circle in a medium with mobile external systems is created, the algorithm effectiveness is illustrated by results of mathematical modeling.
Keywords: wheeled mobile robot, external system monitoring, system parameters estimation