Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

Abstract

Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.

Group movement of UAVs in environment with dynamic obstacles: a survey

“…Examples of classical algorithms for dynamic or local trajectory planning are the D* algorithm (Stentz, 1994), and it is more common version D* Lite (Le et al , 2017) as well as modifications of algorithms based on RRT, including RRT* (Karaman and Frazzoli, 2011) and RRTX (Otte and Frazzoli, 2015). It is worth noting the method of planning the trajectory of an autonomous robot, simultaneously with autonomous mapping and localization or SLAM mapping algorithms (simultaneous localization and mapping, SLAM) (Pshikhopov et al, 2015; Loevsky and Shimshoni, 2010; Filipenko and Afanasyev, 2018). The main sources of data for simultaneous localization and further trajectory planning are laser rangefinders or digital cameras (Sokolov et al , 2017).…”

Local and Global Motion Planning for Unmanned Surface Vehicle

“…This approach has been proposed and studied by professor V.Kh. Pshikhopov [7]. In summary, the proposed approach is as follows.…”

“…As a theoretical framework for the implementation of the local planner unstable control regime approach [7] was used, as also shown further.…”