Navigation Method of Autonomous Robot Backward Motion by Remembered Landmarks

Petukhov, S. V.; Rachkov, M.

doi:10.1142/9789814291279_0005

Cited by 3 publications

(2 citation statements)

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“…In recent times, the backward motion control of robots moving in a tightly coupled formation garnered enormous research interest amongst researchers. Autonomous backward navigation of mobile robots using remembered landmarks is addressed in (Petukhov & Rachkov, 2009). The reference points along the trajectory are used to design the control algorithm for the control of robot motion.…”

Section: Related Workmentioning

confidence: 99%

Backward Motion Planning and Control of Multiple Mobile Robots Moving in Tightly Coupled Formations

Ramanathan

MOHAN

DHANRAJ

2021

acs

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This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution for the deadlock situation that arises while navigating the unknown environment. A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment. A tracking controller using the simple geometric approach and the Instantaneous Centre of Radius (ICR), to drive the robot in the backward motion during deadlock situation is developed and presented. State-Based Modelling is used to model the behaviors/motion states of the proposed approach in MATLAB/STATEFLOW environment. Simulation studies are carried out to test the performance and error dynamics of the proposed approach combining the formation, navigation, and backward motion of the robots in all geometric patterns of formation, and the results are discussed.

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Section: Related Workmentioning

confidence: 99%

Backward Motion Planning and Control of Multiple Mobile Robots Moving in Tightly Coupled Formations

Ramanathan

MOHAN

DHANRAJ

2021

acs

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“…Applicability of the question is caused by the need to resolve several tasks, namely, to preserve the transport mean in the event of communication crash by returning along the course already passed, to escape rotation on the area in constrained or hazardous conditions (demining), or fragmentary back movement for avoiding the obstacle and continuing the advance motion [1,2]. Settlement of transport mean course parameters and a position of the transport mean by navigation measurements, computation of course corrections and improvement of control system settings for the upcoming maneuvers constitute the core of the navigational mission [3][4][5][6][7][8][9][10][11][12]. The camera use for navigating movable systems has been labored for different applications [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Transport Mean Reverse Movement Control by Nodal Points

Rachkov¹,

Petukhov²

2019

AJETM

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The study presents an exact formulation of control for the reverse moving a transport mean along a polygonal course consisting of rectilinear segments interconnected by nodal points. Appropriateness of the question is caused by the need to figure out a several of tasks: to secure the transport mean in the occasion of а communication crash by returning along the course already passed, to escape rotation in constrained or unsafe conditions, or partial go back for the following avoid of the hurdle and continuation of the forward motion. The control method of forward motion assumes that the route of movement is predetermined, and the path is elaborated by using landmarks. Video cameras are placed on the transport mean for landmark measurement. They are controlled by the operator through the radio channel. Errors in estimating deviation from the supposed course are detected using the multidimensional correlation investigation instrument based on the dynamics of a lateral deviation mistake and a velocity mistake. Reception algorithm of the information is presented on reference points. The outcome of the test showed a considerable preciseness in determining the position vector that provides the reverse movement relative to the reference course with a reasonably admissible mistake while returning to the start spot.

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Navigation of the autonomous vehicle reverse movement

Rachkov

Petukhov

2018

IOP Conf. Ser.: Mater. Sci. Eng.

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Navigation Method of Autonomous Robot Backward Motion by Remembered Landmarks

Cited by 3 publications

References 1 publication

Backward Motion Planning and Control of Multiple Mobile Robots Moving in Tightly Coupled Formations

Backward Motion Planning and Control of Multiple Mobile Robots Moving in Tightly Coupled Formations

Autonomous Transport Mean Reverse Movement Control by Nodal Points

Navigation of the autonomous vehicle reverse movement

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