Navigation of the autonomous vehicle reverse movement

Rachkov, M.; Petukhov, S. V.

doi:10.1088/1757-899x/315/1/012019

Cited by 3 publications

(1 citation statement)

References 2 publications

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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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Section: Introductionmentioning

confidence: 99%

Autonomous Transport Mean Reverse Movement Control by Nodal Points

Rachkov¹,

Petukhov²

2019

AJETM

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Reconfigurable Autonomous Wheel-Tracked Robot

Rachkov

Emel’yanov

Kolot

2019

2019 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

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Calculation and Optimization of the Wheel-Track Mobile Robot Reconfi guration Mechanism

Rachkov

2022

Mehatronika, avtomatizaciâ, upravlenie

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The actual problem of an autonomous transport robot design for work in an unstructured environment and in emergency situations is considered. The design of the robot contains a combined system, consisting of transformable track and wheel groups, which allows moving over different types of surfaces, including the conditions of the urban environment, in particular flights of stairs. Movement on a flat surface is carried out only by wheel groups with raised track groups, which provides an increased speed of the robot. Movement on uneven surface is carried out only by track groups, while the wheel groups are raised. It provides increased cross-country ability. Staircase and complex obstacles can be overcome with the simultaneous use of wheel and track groups at angle of the wheel groups relative to the track groups during reconfiguration of geometric shapes and steps of the staircase and obstacles. The robot reconfiguration unit is made in the form of a lever mechanism with electric cylinders, which can be self-locking. It implements the switching of the robot movement modes, as well as lifting the wheel group to the required angle for overcoming obstacles. The analysis of the design and calculation of the lever mechanism of the wheel-track robot is carried out. A kinematic model of the reconfiguration unit has been developed. Relationships between the angles and length of the levers, as well as between the angular velocity of movement of the levers and the speed of movement of the electric cylinder pusher of the lever mechanism are obtained. Optimization of the reconfiguration block operation by creating its mathematical model for programming in the Matlab package is done. The target function and restrictions on the system operation have been determined. As a result, improved mechanical characteristics of the reconstruction unit are obtained.

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Navigation of the autonomous vehicle reverse movement

Cited by 3 publications

References 2 publications

Autonomous Transport Mean Reverse Movement Control by Nodal Points

Autonomous Transport Mean Reverse Movement Control by Nodal Points

Reconfigurable Autonomous Wheel-Tracked Robot

Calculation and Optimization of the Wheel-Track Mobile Robot Reconfi guration Mechanism

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