Open AccessIntegrated Navigation System of Single-Axle Wheeled Robot With Two Degrees of Freedom Rotating Platform
Author(s) -
B. S. Aleshin,
E. D. Kuris,
Konstantin S. Lelkov,
V. V. Miheev,
A. I. Chernomorsky
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1694/1/012019
Subject(s) - slippage , robot , inertial navigation system , kalman filter , navigation system , computer science , block (permutation group theory) , simulation , computer vision , engineering , control engineering , control theory (sociology) , artificial intelligence , inertial frame of reference , physics , geometry , mathematics , control (management) , structural engineering , quantum mechanics
A complex navigation system for a uniaxial wheeled robot with a two degrees of freedom rotating platform, which is a carrier of environmental monitoring equipment, is proposed. The navigation system includes an odometric subsystem, a block of inertial sensors, laser altimeters, and a receiver of the global navigation satellite system. Integration is carried out based on the use of the Kalman filter, taking into account the possibility of deformation of the wheels and their slippage when the robot moves relative to the non-horizontal underlying surface. The results of semi-natural modeling confirmed the effectiveness of the decisions made.