Abstract. The paper considers the control system of the autonomous mobile robot CS-7 with eight supporting legs, installed on four hard frames in pairs. Advantages of the chosen design: energy absence to support machine weight and simpler algorithms of trajectory and reference points motion management.Onboard control is designed as a scalable, modular distributed low-level microprocessor system, which comprises two major subsystems: information measurement for processing sensors data and robot actuators control.Supervisory control mode is supported by the vision system based on timeof-flight cameras and a set of ultrasonic and infrared sensors, geosteering module for local and global robot positioning. Measuring information is transmitted to the control computer via Wi-Fi module. Software for the upper-level computer and library of functions for low-level units are developed for the implementation of various robot motion algorithms. Functions define the basic parameters of orthogonal movers depending on the given route and environment map.
Разработана формализованная методика формирования рабочей области варьируемых параметров системы стабилизации беспилотного летательного аппарата на основе комплекса генетических а лгоритмов многокритериальной оптимизации. Такую методику применяют для решения задачи синтеза законов траекторной адаптации параметров системы стабилизации. Представлены результаты тестирования, подтверждающие эффективность разработанных вычислительных процедур.
, В. А. Сеpов 2 , канд. техн. наук, зам. генеpального констpуктоpа по пpоектиpованию, С. С. Фоменко 1 , аспиpант, Н. Г. Шаpонов 1 , канд. техн. наук, доц., В. А. Шуpыгин 1 , д-p техн. наук, зав. кафедpой, 1 Волгогpадский госудаpственный технический унивеpситет 2 ОАО "ЦКБ "Титан"
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