MOTION CONTROL METHOD FOR MODULAR MOBILE ROBOT USING TWO-DIMENSIONAL VECTOR FIELDS

 cover 4 17 2017

MOTION CONTROL METHOD FOR MODULAR MOBILE ROBOT USING TWO-DIMENSIONAL VECTOR FIELDS

V.P. Andreev
Doctor of Technical Science, Moscow State Technological University «STANKIN», Professor, Senior Research Scientist, 1, Vadkovsky per., Moscow, 127055, Russia, tel.: +7(965)210-79-51, This email address is being protected from spambots. You need JavaScript enabled to view it.

V.L. Kim
Moscow State Technological University «STANKIN», Postgraduate Student, 1, Vadkovsky per., Moscow, 127055, Russia, tel.: +7(915)304-14-36, This email address is being protected from spambots. You need JavaScript enabled to view it.


Received 1 November 2017.

Abstract
In this paper the main features of the information interaction between the transport module and the supervisory module of the heterogeneous modular mobile robot are considered. The interaction is considered by the example of mobile robotics typical tasks. We propose new method for the modular robot smooth motion using the two-dimensional vector fields. This method allows the robot to move along trajectories that similar to B-splines without their preparatory definition.
The research is partly supported by the Russian Foundation for Basic Research, grants 16-07-00811а and 16-07-01264а.

Key words
Mobile robot, heterogeneous modular robot, motion planning, control system, vector fields.

Bibliographic description 
Andreev, V. and Kim, V. (2017). Motion control method for modular mobile robot using two-dimensional vector fields. Robotics and Technical Cybernetics, 4(17), pp.22-27.

UDC identifier
004.896:62-50

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