Coordinated Work of Two Mobile Robots when Performing Operations Automatically in a Complex Environment
https://doi.org/10.17586/0021-3454-2022-65-9-656-667
Abstract
The problem of controlling a manipulator mounted on the main mobile robot performing operations in cramped working environment conditions when objects of work are out of sight of the robot's technical vision system, is considered. In this situation, location of the invisible objects is first determined using the technical vision system of an auxiliary and more maneuverable mobile robot in its associated coordinate system, and then this information is transmit-ted via communication channels with unavoidable errors to the associated coordinate system of the main manipulation robot. An algorithm is proposed to determine and eliminate the aroused errors, which as a result provides the possibility of accurate automatic execution of the required operations with the objects of work. The proposed mathematical apparatus allows for accounting variations in current spatial orientation of the base platforms of both mobile robots at the angles of roll, pitch and yaw in the absolute coordinate system. The results of experiments confirming the operability and high efficiency of the proposed method of coordinated automatic operation of two mobile robots in cramped environmental conditions are presented.
Supporting agencies: the work was supported by the Russian Science Foundation, grant 22-29-01156.
About the Authors
V. F. Filaretov
Institute of Automation and Control Processes of the Far Eastern Branch of the RAS; Far Eastern Federal University, Department of Automation and Robotics
Russian Federation
Russian Federation
Vladimir F. Filaretov - Dr. Sci., Professor, Head of the Laboratory,Laboratory of Robotic Systems; Director
Vladivostok
A. A. Katsurin
Far Eastern Federal University, Department of Automation and Robotics; Institute of Marine Technology Problems of the Far Eastern Branch of the RAS
Russian Federation
Russian Federation
Alexey A. Katsurin - PhD, Laboratory of Intelligent Information Systems for Marine Robots; Senior Researcher
Vladivostok
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Review
For citations:
Filaretov V.F., Katsurin A.A. Coordinated Work of Two Mobile Robots when Performing Operations Automatically in a Complex Environment. Journal of Instrument Engineering. 2022;65(9):656-667. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-9-656-667
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