Open AccessMODELING OF THE MANAGEMENT SYSTEM OF A FULL-DRIVE FOUR-WHEEL AGRICULTURAL MOBILE ROBOT
Author(s) -
Т. Круглова,
Т. Круглова,
Alexander Vlasov,
Alexander Vlasov
Publication year - 2019
Publication title -
vestnik bgtu im. v.g. šuhova
Language(s) - English
Resource type - Journals
ISSN - 2071-7318
DOI - 10.34031/article_5ce292ca6fa530.67486694
Subject(s) - mobile robot , robot , trajectory , control engineering , field (mathematics) , computer science , control (management) , simulation , engineering , artificial intelligence , mathematics , physics , astronomy , pure mathematics
Widespread robotization is a modern trend in the development of agriculture. Currently, various designs of robots are being actively implemented. They are aimed to replace a human when performing various tasks. Most of these robots are wheeled mobile platform, for which it is necessary to ensure high maneuverability and accuracy of control. This problem can be solved by developing optimal high-precision control algorithms, for the study of which it is advisable to use a mathematical model of a mobile agricultural robot. This article presents the results of modeling the movement of a four-wheel mobile robot with a differential drive that moves across a rectangular field along a “snake state” trajectory that is optimal by speed