TY - JOUR

T1 - Delay-compensating visual positioning of the mobile robot

AU - Sevostyanov, R. A.

N1 - Conference code: 13

PY - 2021/5/20

Y1 - 2021/5/20

N2 - The paper considers the task of the automatic positioning of the mobile robot in front of the external visual marker in the case of the presence of the transport delay in the control channel. As a basic regulator without the delay compensation we use mixed approach based on the visual servoing method and a special multipurpose control structure which is capable of taking into account a set of requirements to the controlled dynamics. To compensate the delay we apply the modification of the basic regulator which keeps the original transfer matrix. We also demonstrate the efficiency of the proposed approach by the results of the experiments with the computer model.

AB - The paper considers the task of the automatic positioning of the mobile robot in front of the external visual marker in the case of the presence of the transport delay in the control channel. As a basic regulator without the delay compensation we use mixed approach based on the visual servoing method and a special multipurpose control structure which is capable of taking into account a set of requirements to the controlled dynamics. To compensate the delay we apply the modification of the basic regulator which keeps the original transfer matrix. We also demonstrate the efficiency of the proposed approach by the results of the experiments with the computer model.

UR - http://www.scopus.com/inward/record.url?scp=85107433888&partnerID=8YFLogxK

U2 - 10.1088/1742-6596/1864/1/012038

DO - 10.1088/1742-6596/1864/1/012038

M3 - Conference article

AN - SCOPUS:85107433888

VL - 1864

JO - Journal of Physics: Conference Series

JF - Journal of Physics: Conference Series

SN - 1742-6588

IS - 1

M1 - 012038

T2 - 13th Multiconference on Control Problems, MCCP 2020

Y2 - 6 October 2020 through 8 October 2020

ER -