DOI 10.17586/0021-3454-2015-58-9-738-741
UDC 62-62-519
ALGORITHMS OF CONTROL OVER FOUR-WHEEL ROBOT MOVING OVER ROUGH TERRAIN
St. Petersburg State University of Information Technologies, Mechanics and Optics, Department of Control Systems and Informatics;
M. I. Evstigneev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate
V. V. Mazulina
Technical University of Eindhoven, Eindhoven, 5600MB, Netherlands; postgraduate
G. M. Мishchenko
ITMO University; Department of Computer Science and Control Systems; Graduate Student
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Abstract. An algorithm of control over mobile robot is considered for the case of unknown obstacles on the route. Identification of an obstacle is carried out with the use of a technical vision system. A model based on four-wheel motorcar-type chassis is used as an example of mobile robot.
Keywords: mobile robot, obstacle identification, technical vision
