Моделирование одометрической системы автономной навигации гусеничного робота, оптимальной по критерию производительности

Автоматика и программная инженерия. 2022. № 1. С. 48–66.

Данилко А. И., Stukach O.

The navigation system of the autonomous moving crawler vehicle in the open area is simulated. The possibility of using odometry as a navigation system for the robot when performing a task and return to the starting position is considered. The designed software is given. An overview of other solutions for the navigation of robots is given, the possibility of using them as an additional tool to improve the accuracy of determining coordinates is defined. An algorithm for converting geographical coordinates into a new coordinate plane has been obtained. An
algorithm for finding a route to the target, a mechanism for calculating the current own position based on completed movements with a mechanism for making corrections to errors based on data received from some peripheral device, such as a gyroscope, and an algorithm for returning to the point of departure has been designed. The description of the software modules implementing the selected solutions is given, its effectiveness is evaluated.
Keywords: robotics, software control, odometry, coordinate define, the robot navigation.

Keywords: autonomic transport robot, автономная навигация мобильного робота;