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Construction of a trajectory of programmed motion for coordinated control system of electric drives of a four-wheel mobile robot

Meshkovskiy E. O.  (The postgraduate of the Peter the Great St. Petersburg Polytechnic University)

The problem of parametric optimization of the system controller of coordinated control of a four-wheeled mobile robot with two differential drive units is considered. In the process of solving it, the objective function was derived, a criterion was compiled, and a method for optimizing parameters was selected. In conclusion, the article presents the results of numerical experiments on a graph the trajectory errors before and after the parametric optimization of a nonlinear and a fuzzy system controller.

Keywords:wheel robot, differential drive unit, coordinated control, parametric optimization, batch learning, conjugate gradient method, Brent method
 

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Citation link:
Meshkovskiy E. O. Construction of a trajectory of programmed motion for coordinated control system of electric drives of a four-wheel mobile robot // Современная наука: актуальные проблемы теории и практики. Серия: Естественные и Технические Науки. -2020. -№08-2. -С. 58-63 DOI 10.37882/2223-2966.2020.08-2.11
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