Generate QR code
Open Access
Subscription Access
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
References
1. Villani V., Pini F., Leali F., Secchi C. Mechatronics, 2018, vol. 55, рр. 248–266.
2. Hentout A., Aouache M., Maoudj A., Akli I. Advanced Robotics, 2019, no. 15–16(33), pp. 764–799.
3. Vicentini F., Adami A., Filippi S. Journal of Mechanical Design, 2021, no. 4(143), pp. 040802.
4. Chepin E., Gridnev A., Erlou M. Biologically Inspired Cognitive Architectures Meeting, Cham, Springer Nature Switzerland, 2023, рр. 208–215.
5. Lynch K.M., Park F.C. Modern Robotics: Mechanics, Planning, and Control, Cambridge, Cambridge University Press, 2017, 544 p.
6. Zakharov D.N., Iaremenko A.M., Kurovskii D.M., Kurovskii A.M., Borisov O.I., Zhang B. 2024 IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, рр. 3553–3558, DOI: 10.1109/ IROS58592.2024.10801549.
7. Zakharov D.N., Gridnev A., Erlou M. IFAC-PapersOnLine, 2023, no. 2(56), pp. 2140–2145.
8. Abd Mutalib M.A., Azlan N.Z. Applied Research and Smart Technology (ARSTech), 2020, no. 2(1), pp. 71–82.
9. Zakharov D.N., Iaremenko A.M., Kurovskii D.M., Gridnev A., Erlou M. 2024 10th Intern. Conf. on Control, Decision and Information Technologies (CoDIT), Vallette, Malta, 2024, рр. 1584–1588, DOI: 10.1109/CoDIT62066.2024.10708441.
Review
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
Views:
23
Email this article 