МИНИМИЗАЦИЯ ВРЕМЕНИ ПЕРЕХОДА МОБИЛЬНОГО РОБОТА НА ЗАДАННУЮ ТРАЕКТОРИЮ
Abstract
В статье предлагается метод решения задачи минимизации времени перевода мобильного колесного робота из некоторого начального положения на заданную траекторию. Строится кинематическая и динамическая модель объекта управления. Рассматривается подход к формированию опорных точек, по которым ориентируется робот во время движения. Приводятся результаты имитационного моделирования с вариациями параметров.
References
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