Article

Article title NAVIGATION FOR COMMUNICATION IN A GROUP OF VEHICLES
Authors V. V. Soloviev, V. I. Finaev, V. V. Shadrina, I. V. Pushnina
Section SECTION II. PROCESS AND SYSTEM MODELING
Month, Year 03, 2018 @en
Index UDC 004.896
DOI
Abstract In this paper the problem of navigation for motion control of the autonomous mobile robot (mobile object) in an uncertain environment is considered. Formulated is the problem of orientation in the space of the mobile object, provided that the orientation of a mobile object occurs in the absence of data from the satellite, and the processing of navigation data from local systems is carried out by integrating different data. The analysis is made and the advantages and disadvantages of two main groups of navigation methods: local and global navigation are determined. A combined navigation method for the autonomous mobile robot is proposed. Made is a brief review of the most well-known scientific works, in which the description is given and the application of the method of different navigation data integration for local navigation tasks of the mobile robot is shown. The structure of the integrated system of the local navigation with the scheme of integration of navigation meters is considered, which includes: accelerometer unit, gyroscope unit, Kalman filter. The essence of the proposed method for estimating the position and orientation of a two-wheeled mobile robot consists in combining the data of odometry, magnetic compass and an initial navigation system with the use of the extended Kalman filter. A model of the extended Kalman filter is presented. A practical example of designing a mathematical model using an extended Kalman filter that provides an increase in the accuracy of determining the coordinates of a mobile object and contributes to the effective solution of the problem of communication of a group of mobile objects is considered. In the example there are considered the circular motion, the rectilinear motion and the sinusoid motion of the mobile object. The simulation is performed in MATLAB and provided effective results of the proposed method application.

Download PDF

Keywords Navigation system; mobile object; Kalman filter; INS; odometry; data aggregation.
References 1. Kostishin M.O., ZHarinov I.O., Suslov V.D. Avtonomnaya navigaciya mobil'nogo robota na osnove ul'trazvukovogo datchika izmereniya rasstoyaniy [Autonomous navigation of a mobile robot based on an ultrasonic distance measurement sensor], Nauchno-tekhnicheskiy vestnik informacionnykh tekhnologiy, mekhaniki i optiki [Journal scientific and technical of information technologies, mechanics and optics], 2013, No. 2 (84), pp. 162-163.
2. Mikhaylov B.B., Nazarova A.V., Yushchenko A.S. Avtonomnye mobil'nye roboty – navigaciya i upravlenie [Autonomous mobile robot navigation], Izvestiya YUFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering Sciences], 2016, No. 2 (175), pp. 48-67.
3. Golovan A.A., Grishin A.A., Zhiharev D.N., Lenskiy A.V., Pahomov V.B. Algoritmy resheniya zadachi navigacii mobil'nykh robotov [Algorithms for solving the problem of mobile robots navigation]. Moscow: Institut mekhaniki MGU, 1999, 54 p.
4. Chernuhin Yu.V., Dolenko Yu.S., Butov P.A. Neyrosetevoy podkhod k resheniyu zadachi lokal'noy navigacii intellektual'nymi mobil'nymi robotami v usloviyakh, priblizhennykh k real'noy srede [Neural network approach to solving the problem of local navigation by intelligent mobile robots in conditions close to the real environment], Izvestiya YUFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering Sciences], 2013, No. 5 (142), pp. 80-84.
5. Bobrovskiy S. Navigaciya mobil'nyh robotov [Navigation of mobile robots] in 3 part. Part 1, PC Week/RE, 2004, No. 9, pp. 52.
6. Stepanov O.A. Primenenie teorii nelineynoy fil'tracii v zadachakh obrabotki navigacionnoy informacii [Application of the theory of nonlinear filtering in problems of processing of navigation information]. 3 ed. Saint Petersburg: GNC RF CNII «EHlektropribor», 2003, 370 p.
7. Obzor global'nyh navigacionnyh system [Overview of global navigation systems]. Available at: http://www.vspcenter.ru/glonass/system/ (accessed 27 March 2017).
8. Shahida Khatoon and Ibraheem. Autonomous Mobile Robot Navigation by Combining Local and Global Techniques, International Journal of Computer Applications (0975–8887), 2012, Vol. 37, No. 3.
9. Krasil'shchikov M.N, Sebryakov G.G. Sovremennye informacionnye tekhnologii v zadachakh navigacii i navedeniya bespilotnykh manevrennykh letatel'nykh apparatov [Modern information technologies in the tasks of navigation and guidance of unmanned aerial vehicles]. Moscow: Fizmatlit, 2009, 556 p.
10. Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews. Global Positioning, Inertial Navigation and Integration. SBN: 978-0-470-09971-1. August 2007, 416 p.
11. Chernonozhkin V.A., Polovko S.A. Sistema lokal'noy navigacii dlya nazemnykh mobil'nykh robotov [Local navigation system for land-based mobile robots], Nauchno-tekhnicheskiy vestnik informacionnykh tekhnologiy, mekhaniki i optiki [Journal scientific and technical of information technologies, mechanics and optics]. Saint Petersburg: Izd-vo SPb NIUITMiO, 2008, No. 57.
12. Zashchelkin K.V, Kalinichenko V.V, Ul'chenko N.O. Realizaciya kombinirovannogo sposoba navigacii avtonomnogo mobil'nogo robota [Realization of the combined method of navigation of the Autonomous mobile robot], Elektrotekhnicheskie i komp'yuternye sistemy [Electrotechnical and computer systems], 2013, No. 09 (85). Komp'yuternye sistemy i komponenty [Computer systems and components], pp. 102-109.
13. Soloviev V.V, Pshikhopov V.K, Shapovalov I.O, Finaev V.I and Beloglazov D.A. Planning of the mobile robot motion in non-deterministic environments with potential fields method, International Journal of Applied Engineering Research, 2015, Vol. 10, No. 21, pp. 41954-41961. ISSN 0973-4562.
14. Kotov K.Yu., Mal'cev A.S., Sobolev M.A., Filippov M.N. Sovmestnoe ispol'zovanie odometriy i sistemy tekhnicheskogo zreniya dlya ocenki koordinat mobil'nogo robota [Joint use of odometry and technical vision system for estimation of mobile robot coordinates], Trudy XIII Mezhdunarodnoy konferencii "Problemy upravleniya i modelirovaniya v slozhnykh sistemah" [Proceedings of the XIII International conference "problems of control and modeling in complex systems"]. Samara: Samarskiy nauchnyy centr RAN, 2011, pp. 230-236.
15. Merkulov V.V., Nosenkov D.A. Metod ocenki pozicii mobil'nogo robota na osnove kom-pleksirovaniya sensornykh dannykh odometrii i magnitnogo kompasa s ispol'zovaniem fil'tra Kalmana [The method of estimation of the position of a mobile robot based on the combination of sensory data of odometry and magnetic compass using Kalman filter], Sb. nauchnyh trudov SWorld [Collection of scientific papers SWorld]. Issue 2. Vol. 1. Odessa, 2013, pp. 83-87.
16. Gribovskiy A.V., Kozadaev K.V., Krasovskiy S.P. Informatika: Ezhekvartal'nyy nauchnyy zhurnal [Informatics: quarterly scientific journal], Ob"edinennyy institut problem informatiki NAN Respubliki Belarusi [United Institute of Informatics of the NAS of the Republic of Belarus]. Minsk, 2012, No. 1, pp. 106-114.
17. Chenavier F., Crowley J. Position Estimation for a Mobile Robot Using Vision and Odometry, Proceedings of IEEE International Conference on Robotics and Automation, Nice, France, May 12-14, 1992, pp. 2588-2593.
18. Krasil'shchikov M.N., Sebryakov G.G. Upravlenie i navedenie bespilotnykh manevrennykh letatel'nykh apparatov na osnove sovremennykh informacionnykh tekhnologiy [Control and guidance of unmanned aerial vehicles maneuvering on the basis of modern information technology]. Moscow: Fizmatlit, 2003, 280 p.
19. Intellektual'noe planirovanie traektoriy podvizhnykh ob"ektov [Intelligent planning of the trajectories of moving objects], ed. by Pshihopova V.H. Moscow: Fizmatlit, 2014, 300 p.
20. Welch G., Bishop G. An Introduction to the Kalman Filter. University of North Carolina at Chapel Hill Department of Computer Science Chapel Hill. Course 8. SIGGRAPH 2001.
21. Vaarman V.V., Troyanov D.A., Solov'ev V.V., Beloglazov D.A. Razrabotka i issledovanie metodov kompleksnoy obrabotki navigacionnoy informacii avtonomnogo mobil'nogo robota [Development and research of methods of complex processing of navigation information of Autonomous mobile robot], Informacionnye tekhnologii, sistemnyy analiz i upravlenie (ITSAU-2016): Sb. trudov HIV Vserossiyskoy nauchnoy konferencii molodykh uchenykh, aspirantov i studentov [Information technologies, system analysis and management (ITSAU-2016): Sat. proceedings of the XIV all-Russian scientific conference of young scientists, postgraduates and students]. Taganrog: Izd-vo YUFU, 2016, pp. 27-33.

Comments are closed.