Forced motion control of a mobile robot
نویسندگان
چکیده
Objectives. The increase of the efficiency a separate transport mobile robot in warehouse due to optimal regulation speed its movement. It is required control position, speed, acceleration and direction movement at each moment time along known route. A method for forced was proposed. block various motion maneuvers developed Simulink environment, which calculates distance nearest turning point or stop then by constructed cyclogram corresponding determined. proposed unit can be used practice tasks robots predetermined area. Methods. theory according criterion maximum wave algorithm finding shortest path, finite automata relay are used. Results. Based on maneuver system that provides minimum travel segment path. Maneuvers mean rectilinear robot, as well turn spot, two modes: with without reaching speed. technique based assumption uniformly accelerated. side result when it scaled group robots, becomes possible predict place their potential collisions, order subsequently take into account effective control. Conclusion. real equipped servo drive solving problems transporting goods around warehouse.
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ژورنال
عنوان ژورنال: Informatika
سال: 2022
ISSN: ['2798-2505']
DOI: https://doi.org/10.37661/1816-0301-2022-19-3-86-100