NAVIGATION AND CONTROL SYSTEM FOR MOBILE ROBOT
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For citation: Bobtsov A.A., Dobriborsci D., Kapitonov A.A. Navigation and control system for mobile robot. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2017, vol. 17, no. 2, pp. 365–367 (in Russian). doi: 10.17586/2226-1494-2017-17-2-365-367
The paper presents results of navigation and control system development carried out without any information about the polygon map for mobile robot based on LEGO Mindstorms NXT. We have solved the problem of the robot movement to a point with given coordinates and obstacle avoidance. The robot is a two-engine platform with differential drive. To estimate the covered distance we use encoders on the motor shaft. The robot navigation is defined by the angular velocity measured by a gyroscope and calculated angle of rotation, and the distance to the obstacle is estimated by ultrasonic distance measurement. The obstacle avoidance problem is solved by the method of tangential escape.
Acknowledgements. The work was performed at Control Systems and Informatics Department of ITMO University and was partially financially supported by the grant of the President of the Russian Federation (No.14.Y31.16.9281-НШ)
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