doi: 10.17586/2226-1494-2017-17-3-393-399


ALGORITHM FOR MOBILE ROBOT CROSS COUNTRY MOTION

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


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Article in Russian

For citation: Evstigneev M.I., Litvinov Yu.V., Masulina V.V., Chashchina M.M. Algorithm for mobile robot cross country motion. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2017, vol. 17, no. 3, pp. 393–399 (in Russian). doi: 10.17586/2226-1494-2017-17-3-393-399

Abstract

We have proposed control algorithm for a wheeled robot cross country movement along a given route. We have carried out functionality test of the proposed algorithms with the use of mathematical modeling and experimental studies on a wheeled platform of "Odyssey" company and the control unit on the basis of Arduino UNO. The robot operates in autonomous mode. Environmental analysis is carried out by means of ultrasonic sensors, gyroscope, vision systems and GPS module. Data received from the sensors is used by robot control unit to calculate the trajectories for obstacle avoidance and return to the set route, as well as for correction of local maps. The robot intelligence lies in the ability to determine the nature of its actions depending on the environment changes. Experimental study based on "Оdyssey" platform has confirmed the correctness of the chosen approach.


Keywords: cross country, mobile robot, vision system, by-pass route, obstacle detection

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