Adaptive algorithm for mobile robot movement control

• Published in: Journal of physics. Conference series Vol. 1958; no. 1; pp. 12038 - 12042
• Main Author: Zhidkov, V N
• Format: Journal Article
• Language: English
• Published: Bristol IOP Publishing 01.06.2021
• Subjects: Adaptive algorithms; Adaptive control; Control algorithms; Control theory; Deviation; Jamming; Kalman filters; Navigation systems; Noise; Noise measurement; Physics; Robot control; Robot dynamics; Robots; Standard error; Statistical analysis; Straight lines; Transducers
• ISSN: 1742-6588; 1742-6596
• DOI: 10.1088/1742-6596/1958/1/012038

Abstract The paper reviews the goal of controlling mobile robot movement along the planned path. It proposes an adaptive robot movement control algorithm, allowing to increase the precision of holding the robot within the prescribed path under the conditions of unstable navigation field. The adaptation of the algorithm to jamming environment is in redistributing weights of the weighted sum of estimates given by the ultrasound navigation system (USNS) and wheel pulse transducers (WPT). When precision of the USNS reduces affect of the WPT on the final estimate increases while affect of the USNS decreases. Such a redistribution is carried out when the system is operating due to changing elements of a measurement noise matrix in Kalman filter [1] with use of which a mobile robot heading angle is estimated. Corresponding elements of the measurement noise matrix increase along with increase of deviation of the mobile robot trajectory from a straight line. The extent of deviation calculated as the standard error of a regression is defined by means of the statistical analyses involving the last n measurements contained in buffer store of the USNS. The obtained results demonstrate significant benefit of the developed mobile robot heading estimation algorithm in comparison with the conventional filtering algorithm basing on using the classical Kalman filter with the measurement noise matrix whose elements are fixed.