TY - GEN

T1 - A Method for Stabilization of Ground Robot Path Controlled by Airborne Autopilot with Time Delay

AU - Domoshnitsky, Alexander

AU - Kupervasser, Oleg

AU - Kutomanov, Hennadii

AU - Yavich, Roman

N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

PY - 2021

Y1 - 2021

N2 - 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.

AB - 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.

KW - Airborne control

KW - Autopilot

KW - Differential equations

KW - Ground robots

KW - Stability

KW - Tethered platform

KW - Time delay

KW - Vision-based navigation

KW - Visual navigation

UR - http://www.scopus.com/inward/record.url?scp=85125243416&partnerID=8YFLogxK

U2 - 10.1007/978-981-16-6297-3_4

DO - 10.1007/978-981-16-6297-3_4

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AN - SCOPUS:85125243416

SN - 9789811662966

T3 - Springer Proceedings in Mathematics and Statistics

SP - 49

EP - 70

BT - Functional Differential Equations and Applications - FDEA-2019

A2 - Domoshnitsky, Alexander

A2 - Rasin, Alexander

A2 - Padhi, Seshadev

T2 - 7th International Conference on Functional Differential Equations and Applications, FDEA 2019

Y2 - 22 August 2019 through 27 August 2019

ER -