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Instruments and Systems: Monitoring, Control, and Diagnostics

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Way to explore of the mobile robot on the stationary installation of remote access
I.A. RYBIN RUBANOV V.G. T.A. DUYUN

In this paper considers a hybrid approach to modeling the motion of the mobile robot, combining the advantages of physical and
mathematical modeling. Mathematical model describes the AGV, which has a four-wheeled chassis circuit with two active and
two passive leading support wheels. Physical component is a stationary stand, simulating a mobile platform, which consists of an
onboard controller, motors, gears and wheels, based on rotating circular platform. Mathematical description of the signals and the
physical model used computer software to build a top-level virtual path of motion relative to a user-defined kinematic trajectory.
Construction is carried out using the routines that implement the beginning of the movement, the movement, braking, cornering
and refinement ending motion of the mobile robot. Created hardware and software system is designed to test different algorithms
autonomous organization of the movement of the vehicle.
Keywords: mobility, robot, stand, method, research, motion, trajectory, model, control, algorithm.

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