Robust laser positioning in a mobile robot machine vision system
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Дата
2021
Назва журналу
Номер ISSN
Назва тому
Видавець
Харківський національний автомобільно-дорожній університет
Анотація
Laser scanning devices are widely used in Machine Vision Systems (MVS) of an
autonomous mobile robot for solving SLAM problems. One of the concerns with MVS operation is the
ability to detect relatively small obstacles. This requires scanning a limited sector within the field of
view or even focusing on a specific point of space. The accuracy of the laser beam positioning is
hampered by various kinds of uncertainties both due to the model simplifying and using inaccurate
values of its parameters, as well as lacking information about perturbations. Goal. This paper
presents the improvement of the MVS, described in previous works of the authors, by robust control of
the DC motor, which represents the Positioning Laser drive. Methodology. For this purpose, a DC
motor model is built, taking into account the parametric uncertainty. A robust digital PD controller
for laser positioning is designed, and a comparative evaluation of the robust properties of the
obtained control system with a classical one is carried out. The PWM signal formation by the
microcontroller and processes in the H-bridge are also taken into account. Results. The obtained
digital controller meets the transient process and accuracy requirements and combines the simplicity
of a classic controller with a weak sensitivity to the parametric uncertainties of the drive model.
Originality. The originality of the paper is in its focus on the MVS of the autonomous mobile robot
developed by the authors. Practical value. The implementation of the MVS with the proposed
controller will increase the reliability of obstacles detection within a robot field of view and the
accuracy of environment mapping.
Опис
Ключові слова
DC motor, laser positioning, machine vision system, robust control, двигун постійного струму, позиціонування лазера, система машинного зору, робастне керування
Бібліографічний опис
Gurko, A. Robust laser positioning in a mobile robot machine vision system / A. Gurko, O. Sergiyenko, L. Lindner // Автомобіль і електроніка. Сучасні технології : зб. наук. пр. [Електронний ресурс] / М-во освiти i науки України, ХНАДУ. - Харкiв, 2021. - Вип. 20.