| Autor: | Finaev, V.I., Soloviev, V.V., Shadrina, V.V., Pushnina, I.V. |
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| Jazyk: | ruština |
| Rok vydání: | 2018 |
| Předmět: | |
| DOI: | 10.23683/2311-3103-2018-3-102-112 |
| Popis: | In this paper the problem of navigation for motion control of the autonomous mobile robot (mobile object) in an uncertain environment is considered. Formulated is the problem of orientation in the space of the mobile object, provided that the orientation of a mobile object occurs in the absence of data from the satellite, and the processing of navigation data from local systems is carried out by integrating different data. The analysis is made and the advantages and disadvantages of two main groups of navigation methods: local and global navigation are determined. A combined navigation method for the autonomous mobile robot is proposed. Made is a brief review of the most well-known scientific works, in which the description is given and the application of the method of different navigation data integration for local navigation tasks of the mobile robot is shown. The structure of the integrated system of the local navigation with the scheme of integration of navigation meters is considered, which includes: accelerometer unit, gyroscope unit, Kalman filter. The essence of the proposed method for estimating the position and orientation of a two-wheeled mobile robot consists in combining the data of odometry, magnetic compass and an initial navigation system with the use of the extended Kalman filter. A model of the extended Kalman filter is presented. A practical example of designing a mathematical model using an extended Kalman filter that provides an increase in the accuracy of determining the coordinates of a mobile object and contributes to the effective solution of the problem of communication of a groupof mobile objects is considered. In the example there are considered the circular motion, the rectilinear motion and the sinusoid motion of the mobile object. The simulation is performed in MATLAB and provided effective results of the proposed method application. |
| Databáze: | OpenAIRE |
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