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- Title
THE APPLICATION OF ARTIFICIAL VECTOR FIELDS FOR MOTION CONTROL OF A HETEROGENEOUS MODULAR MOBILE ROBOT.
- Authors
Andreev, Victor; Kim, Valerii
- Abstract
This paper presents a novel method for motion realization of differential drive mobile robot along a complex trajectory using two-dimensional vector fields (artificial forces). The method allows robot to move along trajectories that similar to B-splines without their preparatory computation. This is performed by using the given sequence of points (intermediate goal points) and manipulation of vector fields that defined by Gaussian functions. The feature of the method realization is as follows in its application in the transport module of a heterogeneous modular mobile robot which modules are functionally complete electronic or mechatronic devices. A functional completeness in this case means that every module must perform the function that built in its engineering implementation and control system by itself. The transport module realizes its functions upon receipt control goals (parameters of position vector) from module-supervisor that is part of modular mobile robot. In this case the transport module computes motion trajectory independently. Therefore a method of information interaction between the transport module and a module-supervisor is considered in this paper. The transport module performance under control of a module-supervisor is viewed by the example of mobile robotics typical tasks: motion in a known and unknown environment.
- Subjects
MOBILE robot control systems; MOTION control devices; VECTOR fields; GAUSSIAN function; ROBOTICS
- Publication
Annals of DAAAM & Proceedings, 2017, Vol 28, p635
- ISSN
1726-9679
- Publication type
Article
- DOI
10.2507/28th.daaam.proceedings.090