2 research outputs found
Π Π°Π·ΡΠ°Π±ΠΎΡΠΊΠ° ΡΡΠ΅Π±Π½ΠΎΠ³ΠΎ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° Outdoor-ΡΠΈΠΏΠ°
Π Π΄Π°Π½Π½ΠΎΠΉ ΡΠ°Π±ΠΎΡΠ΅ Π±ΡΠ» ΡΠ°Π·ΡΠ°Π±ΠΎΡΠ°Π½ ΡΡΠ΅Π±Π½ΡΠΉ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΠΉ ΡΠΎΠ±ΠΎΡ outdoor-ΡΠΈΠΏΠ° Π΄Π»Ρ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ΠΈΡ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ, ΡΠ΅ΡΠ΅Π½ΠΈΡ ΠΏΡΠ°ΠΊΡΠΈΡΠ΅ΡΠΊΠΈΡ
Π·Π°Π΄Π°Ρ ΠΈ Π°ΠΏΡΠΎΠ±Π°ΡΠΈΠΈ Π°Π»Π³ΠΎΡΠΈΡΠΌΠΎΠ² ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π² ΡΠΈΠ·ΠΈΡΠ΅ΡΠΊΠΈ Π½Π΅ΠΎΠ΄Π½ΠΎΡΠΎΠ΄Π½ΠΎΠΉ ΡΡΠ΅Π΄Π΅. ΠΡΠ» ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ Π°Π½Π°Π»ΠΈΠ· Π°Π½Π°Π»ΠΎΠ³ΠΎΠ² ΡΡΠ΅Π±Π½ΡΡ
ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΠ»Π°ΡΡΠΎΡΠΌ. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π° ΡΡΡΡΠΊΡΡΡΠ½Π°Ρ ΡΡ
Π΅ΠΌΠ° ΡΡΠ΅Π±Π½ΠΎΠ³ΠΎ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° outdoor-ΡΠΈΠΏΠ°. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π° ΡΠ»Π΅ΠΊΡΡΠΈΡΠ΅ΡΠΊΠ°Ρ ΠΏΡΠΈΠ½ΡΠΈΠΏΠΈΠ°Π»ΡΠ½Π°Ρ ΡΡ
Π΅ΠΌΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π΄Π²ΠΈΠ³Π°ΡΠ΅Π»Π΅ΠΌ ΠΏΠΎΡΡΠΎΡΠ½Π½ΠΎΠ³ΠΎ ΡΠΎΠΊΠ°. ΠΡΠΎΠ²Π΅Π΄Π΅Π½ Π²ΡΠ±ΠΎΡ ΡΠ»Π΅ΠΌΠ΅Π½ΡΠΎΠ² Π΄Π»Ρ Π΄ΡΠ°ΠΉΠ²Π΅ΡΠ° ΡΠΎΠ±ΠΎΡΠ°. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π° Π΄Π²ΡΡ
ΠΊΠΎΠ½ΡΡΡΠ½Π°Ρ ΡΠΈΡΡΠ΅ΠΌΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠΌ. ΠΡΠ»ΠΎ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ΠΎ ΡΡΠ°Π²Π½Π΅Π½ΠΈΠ΅ ΡΠ°Π·Π»ΠΈΡΠ½ΡΡ
ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² ΡΠΈΠ»ΡΡΡΠ°ΡΠΈΠΈ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΠΌΠ΅ΡΠΎΠ΄Π° ΡΠΊΡΠΏΠΎΠ½Π΅Π½ΡΠΈΠ°Π»ΡΠ½ΠΎΠ³ΠΎ ΡΠΊΠΎΠ»ΡΠ·ΡΡΠ΅Π³ΠΎ ΡΡΠ΅Π΄Π½Π΅Π³ΠΎ ΠΈ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ Π½Π΅ΠΉΡΠΎΠ½Π½ΡΡ
ΡΠ΅ΡΠ΅ΠΉ.In this paper, an outdoor mobile training robot was developed to carry out research, solve practical problems and approbate algorithms in a physically heterogeneous environment. Competing mobile robotics platforms were analyzed. A structural diagram of an outdoor mobile robot has been developed. DC motor control system schematics has been developed. The elements for the robot driver has been determined. A robot control system with two closed loops was developed. A comparison between the exponential moving average filter and the neural network-based filter was mad
Π‘ΠΈΡΡΠ΅ΠΌΠ° Π»ΠΎΠΊΠ°Π»ΡΠ½ΠΎΠΉ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΈ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° Π² ΡΡΠ»ΠΎΠ²ΠΈΡΡ ΡΠΈΠ·ΠΈΡΠ΅ΡΠΊΠΈ Π½Π΅ΠΎΠ΄Π½ΠΎΡΠΎΠ΄Π½ΠΎΠΉ ΡΡΠ΅Π΄Ρ
Π ΡΠ°Π±ΠΎΡΠ΅ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ Π°Π½Π°Π»ΠΈΡΠΈΡΠ΅ΡΠΊΠΈΠΉ ΠΎΠ±Π·ΠΎΡ ΡΠ°Π±ΠΎΡ, ΠΏΠΎΡΠ²ΡΡΠ΅Π½Π½ΡΡ
ΠΎΡΠ΅Π½ΠΊΠ΅ ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΠΈ ΡΠ³Π»ΠΎΠ²ΠΎΠΉ ΠΎΡΠΈΠ΅Π½ΡΠ°ΡΠΈΠΈ ΡΠΎΠ±ΠΎΡΠ° Π² ΡΡΠ»ΠΎΠ²ΠΈΡΡ
ΡΠΈΠ·ΠΈΡΠ΅ΡΠΊΠΈ Π½Π΅ΠΎΠ΄Π½ΠΎΡΠΎΠ΄Π½ΠΎΠΉ ΡΡΠ΅Π΄Ρ Ρ ΡΠ°Π·Π»ΠΈΡΠ½ΡΠΌΠΈ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊΠ°ΠΌΠΈ ΡΡΠ°ΡΡΠΊΠΎΠ² ΠΏΠΎΠ΄ΡΡΠΈΠ»Π°ΡΡΠ΅ΠΉ ΠΏΠΎΠ²Π΅ΡΡ
Π½ΠΎΡΡΠΈ. ΠΡΠ΅ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ ΠΈ ΡΠΊΡΠΏΠ΅ΡΠΈΠΌΠ΅Π½ΡΡ ΠΏΡΠΎΠ²ΠΎΠ΄ΠΈΠ»ΠΈΡΡ Π½Π° ΡΠΏΠ΅ΡΠΈΠ°Π»ΡΠ½ΠΎ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π½ΠΎΠΌ ΠΏΠΎΠ»ΠΈΠ³ΠΎΠ½Π΅ Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ΠΌ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠΉ ΠΏΠ»Π°ΡΡΠΎΡΠΌΡ Festo Robotino ΠΈ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΉ ΠΌΠ°ΡΠΈΠ½Π½ΠΎΠ³ΠΎ ΠΎΠ±ΡΡΠ΅Π½ΠΈΡ. Π ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΠ΅ ΡΠ°Π±ΠΎΡΡ Π±ΡΠ»ΠΈ ΠΏΠΎΠ»ΡΡΠ΅Π½Ρ ΠΌΠΎΠ΄Π΅Π»ΠΈ ΠΎΡΠ΅Π½ΠΊΠΈ ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΠΈ ΡΠ³Π»ΠΎΠ²ΠΎΠΉ ΠΎΡΠΈΠ΅Π½ΡΠ°ΡΠΈΠΈ ΡΠΎΠ±ΠΎΡΠ° ΠΊΠ°ΠΊ Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ΠΌ ΠΊΠ»Π°ΡΡΠΈΡΠΈΠΊΠ°ΡΠΈΠΈ ΡΠΈΠΏΠ° ΠΏΠΎΠ²Π΅ΡΡ
Π½ΠΎΡΡΠΈ, ΡΠ°ΠΊ ΠΈ Π±Π΅Π· Π½Π΅Π΅. ΠΠΎΠ΄Π΅Π»ΠΈ, ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΠ΅ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ Π΄Π²Π°ΠΆΠ΄Ρ ΠΌΠ½ΠΎΠ³ΠΎΡΡΠ΄Π½ΡΡ
Π½Π΅ΠΉΡΠΎΠ½Π½ΡΡ
ΡΠ΅ΡΠ΅ΠΉ Ρ Π°ΠΊΡΠΈΠ²Π½ΡΠΌΠΈ Π½Π΅ΠΉΡΠΎΠ½Π°ΠΌΠΈ, ΠΏΠΎΠ·Π²ΠΎΠ»ΡΡΡ ΠΏΡΠΎΠΈΠ·Π²ΠΎΠ΄ΠΈΡΡ ΠΎΡΠ΅Π½ΠΊΡ ΠΊΠΎΠΎΡΠ΄ΠΈΠ½Π°Ρ ΠΈ ΡΠ³Π»ΠΎΠ²ΠΎΠΉ ΠΎΡΠΈΠ΅Π½ΡΠ°ΡΠΈΠΈ ΡΠΎΠ±ΠΎΡΠ° Π² ΡΡΠ»ΠΎΠ²ΠΈΡΡ
ΡΠΈΠ·ΠΈΡΠ΅ΡΠΊΠΈ Π½Π΅ΠΎΠ΄Π½ΠΎΡΠΎΠ΄Π½ΠΎΠΉ ΡΡΠ΅Π΄Ρ.In this work, the analytical review of the papers devoted to the estimation of the coordinates and angular orientation of the robot in heterogeneous environment with different characteristics of the underlying surfaces was carried out. All the research and experiments were carried out on a specially developed testing ground and the Festo Robotino mobile platform using machine learning technologies. As a result of the work, models for evaluating the coordinates and angular orientation of the robot were obtained both with and without the classification of the surface type. The models obtained on the basis of twice multi-layered neural networks with active neurons make it possible to evaluate the coordinates and angular orientation of the robot in a physically heterogeneous environment