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Article information
2021 , Volume 26, ¹ 1, p.99-111
Kotov K.Y., Maltsev A.S., Prishlyak E.E., Sobolev M.A.
Group control complex for unmanned vehicles
The purpose of this work is to develop the test bench for modelling and controlling a group of wheeled and multi-rotor unmanned vehicles. Such test bench should solve the problems of studying the control algorithms of individual robots and their groups which ensure the formation of a group of robots with a given orientation in space and automatically control their joint movement along the desired trajectory with preserving the spatial configuration. The solution is achieved using the proposed software and hardware architecture, which is a set of independent programs that exchange signals through the Redis shared data server or through the Robot Operating System. The result is the control system for group of mobile robots that includes the motion surface, the technical vision system, mathematical methods of motion control and specialized software. This test bench can reduce the costs associated with the development, implementation, and testing of unmanned vehicle control systems.
[full text]
Keywords: mobile robots, motion control, simulation, technical vision
doi: 10.25743/ICT.2021.26.1.008
Author(s):
Kotov Konstantin Yurievich
PhD.
Position: Senior Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: kotov@idisys.iae.nsk.su
SPIN-code: 2929-6626Maltsev Alexander Sergeevich
PhD.
Position: Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: alexandr@idisys.iae.nsk.su
SPIN-code: 6104-5922Prishlyak Elizaveta Egorovna
Position: Programmer
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: liza-lis01@mail.ru
Sobolev Maksim Andreevich
Position: Junior Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: max@idisys.iae.nsk.su
SPIN-code: 7045-8270 References:
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Bibliography link:
Kotov K.Y., Maltsev A.S., Prishlyak E.E., Sobolev M.A. Group control complex for unmanned vehicles // Computational technologies. 2021. V. 26. ¹ 1. P. 99-111
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