ALGORITHM OF CONTROL OVER WHEELED MOBILE ROBOT MOVEMENT IN THE PROBLEM OF EXTERNAL SYSTEM MONITORING
St. Petersburg National Research University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics; Senior Scientist
A. V. Lyamin
ITMO University, Saint Petersburg, 197101, Russian Federation; Head of the Department
A. I. Petrik
St. Petersburg National Research University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics; Post-Graduate Student
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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
