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A Method for Stabilization of Ground Robot Path Controlled by Airborne Autopilot with Time Delay

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Functional Differential Equations and Applications (FDEA 2019)

Part of the book series: Springer Proceedings in Mathematics & Statistics ((PROMS,volume 379))

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Abstract

The paper addresses the problem of visual navigation of ground robots using a camera positioned at a certain elevation above the confined area. Also, the methods of the stability theory of delay differential equations are used in the study of an actual engineering problem of a ground robot autonomous path. We give a description of autopilot for the stabilization of the ground robot autonomous motion according to desirable path. Indeed, large time delay exists in obtaining by autopilot current information about robot position and orientation, because of big data processing by vision-based (visual) navigation system. Despite this fact, we can prove that autopilot can guarantee a stable desirable path. We demonstrate how to create an appropriate controlling signal for the described information time delay and calculate control parameters for case of polygonal chain path. This path consists of linear motion along with line segments and rotations in vertices.

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Authors and Affiliations

  1. Department of Mathematics, Ariel University, Ariel, Israel

    Alexander Domoshnitsky, Oleg Kupervasser, Hennadii Kutomanov & Roman Yavich

  2. TRANSIST VIDEO LLC, Skolkovo, Russia

    Oleg Kupervasser

Authors
  1. Alexander Domoshnitsky
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  2. Oleg Kupervasser
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  3. Hennadii Kutomanov
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  4. Roman Yavich
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Corresponding author

Correspondence to Oleg Kupervasser .

Editor information

Editors and Affiliations

  1. Department of Mathematics, Ariel University, Ariel, Israel

    Alexander Domoshnitsky

  2. Department of Mathematics, Ariel University, Ariel, Israel

    Alexander Rasin

  3. Department of Mathematics, Birla Institute of Technology, Mesra, Ranchi, Jharkhand, India

    Seshadev Padhi

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Domoshnitsky, A., Kupervasser, O., Kutomanov, H., Yavich, R. (2021). A Method for Stabilization of Ground Robot Path Controlled by Airborne Autopilot with Time Delay. In: Domoshnitsky, A., Rasin, A., Padhi, S. (eds) Functional Differential Equations and Applications. FDEA 2019. Springer Proceedings in Mathematics & Statistics, vol 379. Springer, Singapore. https://doi.org/10.1007/978-981-16-6297-3_4

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