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Parameters Identification in UGV Group for Virtual Simulation of Joint Task

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Book cover Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 154))

Abstract

The paper considers an algorithm for calculating the motion parameters for a group of mobile robots performing a joint transport task. The motion of this group of mobile robots is considered on a plane surface. Trajectory of motion passes over different zones with various soil properties. Rectilinear motion and motion along the arc of known radius are considered. Recommendations for correction of robot motion parameters in different situation patterns are given.

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Acknowledgements

This work is supported by RFBR grant №16-29-04199.

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Authors and Affiliations

  1. Laboratory of Robotics and Mechatronics, Ishlinsky Institute for Problems in Mechanics RAS, 119526, Prospect Vernadskogo 101-1, Moscow, Russia

    Valery Gradetsky, Ivan Ermolov, Maxim Knyazkov, Eugeny Semenov & Artem Sukhanov

  2. Moscow State Technological University STANKIN, 127055, Vadkovskiy per. 3a, Moscow, Russia

    Boris Lapin & Sergey Sobolnikov

Authors
  1. Valery Gradetsky
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  2. Ivan Ermolov
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  3. Maxim Knyazkov
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  4. Eugeny Semenov
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  5. Boris Lapin
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  6. Sergey Sobolnikov
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  7. Artem Sukhanov
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Corresponding author

Correspondence to Artem Sukhanov .

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Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Saint Petersburg State University of Aerospace Instrumentation, St. Petersburg, Russia

    Vladislav Shishlakov

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Gradetsky, V. et al. (2020). Parameters Identification in UGV Group for Virtual Simulation of Joint Task. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_30

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