Stabilization of the Underactuated Robot on the Visual Trajectory

Результат исследований: Публикации в книгах, отчётах, сборниках, трудах конференцийстатья в сборнике материалов конференциинаучнаярецензирование


The article considers the problem of moving and stabilizing underactuated wheeled robot on the visual curve in the motion plane. The curve is detected by the video camera mounted on the robot. The task is solved with the help of the approach named visual servoing which uses the visual information in the feedback. The aim of the visual serving is to minimize the difference between desired and the actual position of the set of the points on the image. The main feature of the proposed solution is considering a number of requirements to the robot’s dynamic including the reaction on the presence of the external disturbances. Thereby the regulators of special kind called multipurpose structure are used which makes possible to decompose the basic set of requirements into smaller independent tasks. Additional complication is the underactuated nature of the considered robot. Efficiency of the derived regulator is shown through the experiments with computer model.

Язык оригиналаанглийский
Название основной публикацииConvergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers
РедакторыVladimir Sukhomlin, Elena Zubareva
ИздательSpringer Nature
Число страниц9
ISBN (печатное издание)9783030374358
СостояниеОпубликовано - 2020
Событие3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018 - Moscow, Российская Федерация
Продолжительность: 29 ноя 20182 дек 2018

Серия публикаций

НазваниеCommunications in Computer and Information Science
Том1140 CCIS
ISSN (печатное издание)1865-0929
ISSN (электронное издание)1865-0937


конференция3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018
СтранаРоссийская Федерация

Предметные области Scopus

  • Компьютерные науки (все)
  • Математика (все)

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