novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.16.166-173novtexmech-140Research ArticleРОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOTIC SYSTEMSДвижение мобильного робота по горизонтальным, наклонным и вертикальным поверхностям при наличии возмущений и подвижных препятствийMobile Robot's Movement on Vertical and Horizontal Surfaces and Slopes in the Conditions of External Disturbances and Existing Moving ObjectsГрадецкийВ. Г.GradetskyV. G.gradet@ipmnet.ruКнязьковМ. М.KnyazkovM. M.noemail@neicon.ruСемёновЕ. А.SemionovE. A.noemail@neicon.ruСухановА. Н.SukhanovA. N.sukhanov-artyom@yandex.ruИнститут проблем механики им. А. Ю. Ишлинского Российской академии наук, МоскваРоссияInstitute for Problems in Mechanics named A. Yu. Ishlinski of the Russian Academy of Sciences, 119526, Moscow, Russian FederationRussian FederationИнститут проблем механики им. А. Ю. Ишлинского Российской академии наук, Москва; Московский государственный технологический университет "СТАНКИН", МоскваРоссияInstitute for Problems in Mechanics named A. Yu. Ishlinski of the Russian Academy of Sciences, 119526, Moscow, Russian FederationRussian Federation201528082018163166173Copyright © Commercial Publisher «New Technologies», 20182018Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/140

Выполнен анализ управляемого движения мобильного робота по поверхностям, расположенным под различными углами к горизонту в неструктурированных условиях окружающей среды, в случае возмущающих воздействий, вызванных особенностями поверхностей передвижения. Анализируются различные ситуации взаимного расположения робота и подвижных препятствий, двигающихся с определяемыми сенсорной системой робота относительными скоростями, в которых обеспечивается обход препятствий посредством выбранной стратегии. Предложены алгоритмы управления, обеспечивающие объезд подвижных препятствий.

Mobile robot's motion control on different uneven surfaces under the influence of the external forces in unidentified environment has been analyzed. The mobile robotic platform consists of two parts - the external one and internal one. The relative movement of these parts causes movement of the robotic platform. The robot has pneumatic power source and a set of suction caps for different walls. The environment may include various moving and static obstacles which robot should avoid while moving. The robotic platform has its safe zone defined by robot's and obstacles' speed limits to prevent a crash. Any moving obstacle has its own trajectory and overall dimensions, which could be calculated by processing the data from the vision system. The vision system of the robot consists of a set of sensors: a laser scanner, an ultrasonic sensor and a camera. The robot's control system receives complex data from the sensors and calculates the linear and angular velocities of the robotic platform and the nearest obstacles, and, using its database, decides what behavior model should be applied. Different situations of the robot's and obstacles' relative positions with various values of the relative speed were analyzed. The strategy of the roundabout ways uses the data from the robot's sensors. The motion control algorithms for detouring of the moving and static obstacles were proposed. They envision different situations, which can happen on a wall while the robot moves to the point of destination.

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The authors declare that there are no conflicts of interest present.