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Development of sensing and control algorithms for collaborative mobile robots with hybrid holonomy
https://doi.org/10.17586/0021-3454-2025-68-5-456-460
Abstract
The development of control and sensing algorithms for collaborative mobile robots with hybrid holonomy is discussed. A mobile platform with a roller locking device providing transition between omnidirectional and all-wheel drive modes is considered. The system structural diagram, control algorithms for the motors and the locking device, and the method for processing data from sensors are presented.
Supporting agencies: The work was carried out with financial support from the Russian Science Foundation (project No. 25- 29-00713)
About the Authors
D. N. Zakharov
ITMO University
Russian Federation
Russian Federation
Dmitry N. Zakharov — Post-Graduate Student, Faculty of Control Systems and Robotics
St. Petersburg
A. D. Panin
ITMO University
Russian Federation
Russian Federation
Alexander D. Panin — Student, Faculty of Control Systems and Robotics
St. Petersburg
A. M. Yaremenko
ITMO University
Russian Federation
Russian Federation
Andrey M. Yaremenko — Post-Graduate Student, Faculty of Control Systems and Robotics
St. Petersburg
D. R. Aliev
ITMO University
Russian Federation
Russian Federation
Dmitry R. Aliev — Student, Faculty of Control Systems and Robotics
St. Petersburg
O. I. Borisov
ITMO University
Russian Federation
Russian Federation
Oleg I. Borisov — PhD, Associate Professor, Faculty of Control Systems and Robotics
St. Petersburg
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For citations:
Zakharov D.N., Panin A.D., Yaremenko A.M., Aliev D.R., Borisov O.I. Development of sensing and control algorithms for collaborative mobile robots with hybrid holonomy. Journal of Instrument Engineering. 2025;68(5):456-460. (In Russ.) https://doi.org/10.17586/0021-3454-2025-68-5-456-460
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