在崎岖地形上移动机器人的控制系统

2017 40th International Conference on Telecommunications and Signal Processing (TSP) Pub Date : 2017-07-01 DOI:10.1109/TSP.2017.8075975

M. Chashchina, M. Evstigneev, Y. Litvinov, V. Mazulina

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引用次数: 0

摘要

本文研究了轮式机器人在崎岖地形上沿给定轨迹运动的运动控制问题。以算法的形式给出了检测问题的解。在“奥德赛”公司的六轮平台和基于Arduino UNO fee的控制单元上，通过数学建模和实验研究实现了算法的验证。机器人以自主的方式运作。通过超声波传感器和视觉系统对机器人路径上的障碍物进行识别。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The control system of the mobile robot over a rought terrain

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.

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来源期刊

2017 40th International Conference on Telecommunications and Signal Processing (TSP)

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