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 -