Group control of autonomous robots motion in uncertain environment via unstable modes

Пшихопов, Вячеслав Хасанович; Медведев, Михаил Юрьевич

doi:10.15622/sp.60.2

Cited by 30 publications

(3 citation statements)

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“…A communication system between vehicles is a basis of any group control system. Examples of the interaction of vehicles in various approaches to the implementation of group control systems are described in detail in the papers [57][58][59].…”

Section: Development Of a Group Interaction Systemmentioning

confidence: 99%

Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems

Никущенко

Andrey

Kozhemyakin

et al. 2022

JMSE

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Glider-type autonomous underwater vehicles are today one of the most promising areas of marine robotics. This is confirmed by the frequent and remarkable results of various research missions and projects. The cumulative group application of underwater and no less innovative wave gliders can significantly reduce the time of obtaining oceanographic data. Together with wave gliders, one group of such robotic objects can significantly increase the efficiency, time and volume of obtaining oceanographic data. There is big interest in increasing the functionality of such a group. This article presents one of the possible alternatives to increase the functionality of a group of underwater and waveguide hang gliders. We present the process of upgrading the existing design, control algorithms and software of the SHADOW underwater glider, which was developed by the teams of the St. Petersburg State Marine Technical University (SMTU) and Okeanos JSC in order to jointly study the monitoring of underwater potentially dangerous objects with the St. Petersburg State Fire Service EMERCOM of Russia. A structural-functional approach to the group application of underwater and waveguides is also proposed, which is capable of providing oceanographic, meteorological and environmental monitoring data online, based on the developed multilayer system for planning the trajectories of group movement of objects. The results of full-scale sea trials and the developed algorithms are demonstrated.

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Section: Development Of a Group Interaction Systemmentioning

confidence: 99%

Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems

Никущенко

Andrey

Kozhemyakin

et al. 2022

JMSE

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“…Hence, as follows from (2), to increase the transmitted power and performance efficiency of the system as a whole, generally it is required to amplify either the coupling coefficient between the coils, what is feasible only if the parameters of mutual layout of receiving and transmitting coils can be changed, or the magnetic flux, which induces EMF in the receiving loop. In real-world application of WPT systems in robotic devices, precise mutual layout [21] of coils by energy transfer and repeated achievement of it poses a difficult task. In the situation described above, this approach has no practical advantages over the contact methods.…”

Section: Calculation Of Parameters Of the Loop Coil And Selectionmentioning

confidence: 99%

Approach to Choose of Optimal Number of Turns in Planar Spiral Coils for Systems of Wireless Power Transmission

Krestovnikov

Cherskikh

Bykov

2020

ELEKTRON ELEKTROTECH

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Correct choice of coil parameters for resonant circuits in inductive power transmission systems is a relevant problem, as it significantly influences the efficiency and transmitted power in the systems and provides for optimization of these parameters. This paper presents a methodology of calculation of geometrical and electrical parameters and approach to choose the optimal number of turns in planar coils used in the wireless power transmission (WPT) system with parallel resonant circuit. Formulas are derived for calculation of active resistance and inductance of the coil, normalized to the specified design parameters of the coil. Connection is made between the design and electrical parameters of the coil, which allows choosing the optimal number of turns according to different criteria and guard conditions. The examples of practical use of the chosen approach with transmitting and receiving coils of WPT system are presented. The obtained results show that efficiency and transmitted power in the system are higher when using the coils with the calculated number of turns. The proposed approach may be used in selection of optimal design of loop coils in systems with fixed frequency, and in systems, whose operational frequency depends on the parameters of the resonant circuit.

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“…In the process of performing tasks by mobile autonomous robotic systems (ARS) [1,2], using rechargeable batteries as a power source, it is necessary to replenish energy reserves with a certain periodicity. Charging a battery is essentially the transfer of energy from an external power source to the robot.…”

Section: Introductionmentioning

confidence: 99%

Research of Performance Characteristics of WPT System Associated with Mutual Arrangement of Coils

Krestovnikov

Erashov

2021

Electromechanics and Robotics

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The paper presents the derivation of systems of equations, relating the efficiency of the wireless power transmission system (WPT) with the transmitted power and the distance or displacement between the receiving and transmitting spiral coils. The initial data for the derivation of equation systems were obtained on a prototype assembly of a bidirectional WPT. Experiments were performed in which the values of efficiency and transmitted power were obtained for distances in the range up to 25 mm and displacements between the receiving and transmitting coils in the range up to 30 mm. When the distance between the coils with a diameter of 62 mm is changed to 25 mm, the maximum transmitted power of the prototype system is reduced by ~2.8 times compared to the assembly with minimum distance between the coils. With an axial displacement between the coils equal to approximately half the diameter of the coils, the maximum transmitted power drops by ~3.5 times. Several expressions have been proposed for converting the characteristics of the prototype into relative units and connecting them with the geometric parameters of the coil. The presented systems of equations can be used to develop algorithms that provide for identification of various kinds of interference during the operation of WPT, affecting the efficiency and transmitted power. When operating a WPT as part of a mobile autonomous robotic system, the derived systems of equations will make it possible to assess the feasibility of transferring energy between robots or a charging station and a robot at a given relative position.

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Group control of autonomous robots motion in uncertain environment via unstable modes

Cited by 30 publications

References 0 publications

Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems

Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems

Approach to Choose of Optimal Number of Turns in Planar Spiral Coils for Systems of Wireless Power Transmission

Research of Performance Characteristics of WPT System Associated with Mutual Arrangement of Coils

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