Open AccessDelay-compensating visual positioning of the mobile robot
Author(s) -
Ruslan Sevostyanov
Publication year - 2021
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 - 10.1088/1742-6596/1864/1/012038
Subject(s) - visual servoing , compensation (psychology) , computer science , task (project management) , set (abstract data type) , regulator , mobile robot , control (management) , channel (broadcasting) , robot , artificial intelligence , control engineering , computer vision , control theory (sociology) , engineering , telecommunications , biochemistry , chemistry , systems engineering , psychoanalysis , gene , programming language , psychology
The paper considers the task of the automatic positioning of the mobile robot in front of the external visual marker in the case of the presence of the transport delay in the control channel. As a basic regulator without the delay compensation we use mixed approach based on the visual servoing method and a special multipurpose control structure which is capable of taking into account a set of requirements to the controlled dynamics. To compensate the delay we apply the modification of the basic regulator which keeps the original transfer matrix. We also demonstrate the efficiency of the proposed approach by the results of the experiments with the computer model.