Control Algorithms of a Mobile Robot with Castor Wheels in Field with Barriers

Ivan Anatolievich Vasiliev and Alexander Vladimirovich Popov

doi:10.17485/ijst/2015/v8i29/86866

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Control Algorithms of a Mobile Robot with Castor Wheels in Field with Barriers

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2015/v8i29/86866

Year: 2015, Volume: 8, Issue: 29, Pages: 1-4

Original Article

Control Algorithms of a Mobile Robot with Castor Wheels in Field with Barriers

Ivan Anatolievich Vasiliev and Alexander Vladimirovich Popov^*

Central Research and Development Institute of Robotics and Cybernetics, Department 32 Saint Petersburg, Russian Federation; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

There are different kinematic schemes of wheeled mobile robots. This article presents full four - wheeled drive with two steer wheels. Specific algorithms of the mobile robot’s movements in field with barriers have been developed. All the algorithms have been implemented in practice and tested on a work-performing robot. Scientific novelty of the article consists in the usage of only one simple indicator of a working area. Besides, any sensor, including a contact one, can be used as such an indicator. The application of these algorithms is evident - they may be primarily used in control systems of self - driving cars.
Keywords: Algorithms, Robotics, Robot