Method for tuning the motion planning parameters of a mobile robot

被引：0

作者：

Davydov, O. I. ^{[1
]}

Platonov, A. K. ^{[1
]}

机构：

[1] Russian Acad Sci, Keldysh Inst Appl Math, Moscow, Russia

来源：

JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL | 2017年 / 56卷 / 01期

基金：

俄罗斯基础研究基金会; 俄罗斯科学基金会;

关键词：

Robot programming - Motion planning;

D O I：

10.1134/S1064230717010051

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a method for configuring the motion planning system of an omniwheeled mobile robot with a differential drive. A simulation program that models the horizontal movement of the robot is described. This simulation program is used to select the optimal parameters for the differential drive control algorithm. Then, the motion planning system is tested on a real robot, which is called RB-2, to adjust the parameters selected. This approach allows the control algorithm to be tuned efficiently and effectively, minimizing the number of its test runs on the physical robot.

引用

页码：164 / 172

页数：9

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