RESEARCH AND SIMULATION OF THE LOCAL NAVIGATION SYSTEM OF TERRESTRIAL MOBILE ROBOT


Abstract

The algorithm of complex information processing in the local navigation system of a terrestrial mobile robot and its physical model is developed. Experimental researches of this physical model have been carried out, as a result of which qualitative characteristics of the developed local navigation system have been determined. The trajectory of the object, based on the calculated navigation parameters, has a configuration identical to the actually passed route (adequate functioning of the system as a course indicator). The error in determining the coordinates of an offline object has value 0.012t2 (1.2 m per 10 s) when moving linearly and 0.022t2 (2.2 m per 10 s) when maneuvering. The orientation angles are worked out with precision (0.1÷0.3)о for roll and pitch angles and (2÷3)о for the angle of the course. Precise characteristics of the developed physical model LNS for determining orientation angles and motion parameters МR similar to the passport serial data SINS, and in some cases due to navigation features МR show even better accuracy.


Keywords

local navigation system; mobile robot; algorithm of complex information processing; generalized Kalman filter; offline mode

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Published : 2020-06-30


Rudyk, A., Rudyk, V., & Matei, M. (2020). RESEARCH AND SIMULATION OF THE LOCAL NAVIGATION SYSTEM OF TERRESTRIAL MOBILE ROBOT. Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 10(2), 56-61. https://doi.org/10.35784/iapgos.928

Andrii Rudyk  a.v.rudyk@nuwm.edu.ua
National University of Water and Environmental Engineering, Department of Automation, Electrical Engineering and Computer-Integrated Technologies  Ukraine
http://orcid.org/0000-0002-5981-3124
Viktoriia Rudyk 
Kyiv National University of Construction and Architecture, Faculty of Automation and Information Technology  Ukraine
http://orcid.org/0000-0001-8014-1054
Mykhailo Matei 
Kyiv National University of Construction and Architecture, Faculty of Automation and Information Technology  Ukraine
http://orcid.org/0000-0002-5151-5122