Error minimisation in orientation and localization by correction velocities for three-wheeled mobile platform at time changeable energy performance index

Abstract

Purpose of the paper is to demonstrate current research addressed to implementation of time changeable energy performance index obtained by Kalinski [1, 2], applied to three-wheeled mobile platform. In order to operate optimally during performance of any operations, a mobile robot must understand the effects of its own dynamic model and interactions with the track. Propulsion system should be optimised to withstand environmental conditions and acquire precise motion control. Additionally, during the design process, it is required to consider limitation of accessible control platforms and systems. Therefore, it is natural to implement control algorithms to achieve prescribed optimal motion and immune system for imperfectness of the model, trajectory disturbances and electronics limitations.