Method for tuning the motion planning parameters of a mobile robot
- Авторы: Davydov O.1, Platonov A.1
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Учреждения:
- Keldysh Institute of Applied Mathematics
- Выпуск: Том 56, № 1 (2017)
- Страницы: 164-172
- Раздел: Robotics
- URL: https://journals.rcsi.science/1064-2307/article/view/219817
- DOI: https://doi.org/10.1134/S1064230717010051
- ID: 219817
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Аннотация
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.
Об авторах
O. Davydov
Keldysh Institute of Applied Mathematics
Автор, ответственный за переписку.
Email: akp31mail@gmail.com
Россия, Moscow
A. Platonov
Keldysh Institute of Applied Mathematics
Email: akp31mail@gmail.com
Россия, Moscow