A Method for Stabilization of Ground Robot Path Controlled by Airborne Autopilot with Time Delay

The paper addresses the problem of visual navigation of ground robots using a camera positioned at a certain elevation above the confined area. Also, the methods of the stability theory of delay differential equations are used in the study of an actual engineering problem of a ground robot autonomous path. We give a description of autopilot for the stabilization of the ground robot autonomous motion according to desirable path. Indeed, large time delay exists in obtaining by autopilot current information about robot position and orientation, because of big data processing by vision-based (visual) navigation system. Despite this fact, we can prove that autopilot can guarantee a stable desirable path. We demonstrate how to create an appropriate controlling signal for the described information time delay and calculate control parameters for case of polygonal chain path. This path consists of linear motion along with line segments and rotations in vertices.