The control system of the mobile robot over a rought terrain

Abstract

This work considers the problems of movement control of wheeled robot, which moves along a given trajectory over a rough terrain. The solution of detected issues is given in a form of algorithm. The checking of the proposed algorithm is implemented with the help of mathematical modeling and experimental research on a six-wheeled platform of the company “Odyssey” and control unit based on Arduino UNO fee. The robot operates in an autonomous regime. Identification of obstacles on the robot path is carried out by ultrasonic sensors and vision system.