Method for tuning the motion planning parameters of a mobile robot
- Authors: Davydov O.I.1, Platonov A.K.1
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Affiliations:
- Keldysh Institute of Applied Mathematics
- Issue: Vol 56, No 1 (2017)
- Pages: 164-172
- Section: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219817
- DOI: https://doi.org/10.1134/S1064230717010051
- ID: 219817
Cite item
Abstract
This paper presents a method for configuring the motion planning system of an omniwheeled mobile robot with a differential drive. A simulation program that models the horizontal movement of the robot is described. This simulation program is used to select the optimal parameters for the differential drive control algorithm. Then, the motion planning system is tested on a real robot, which is called RB-2, to adjust the parameters selected. This approach allows the control algorithm to be tuned efficiently and effectively, minimizing the number of its test runs on the physical robot.
About the authors
O. I. Davydov
Keldysh Institute of Applied Mathematics
Author for correspondence.
Email: akp31mail@gmail.com
Russian Federation, Moscow
A. K. Platonov
Keldysh Institute of Applied Mathematics
Email: akp31mail@gmail.com
Russian Federation, Moscow
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