Methodology for Model-Based Design of Mobile Robots Control Algorithms
This article proposes the formalized methodology for model-based design of mobile platform management systems. The methodology is based on an alternative approach to development, when the model of controlled object is firstly created as a design tool, and then control algorithms are developed. This...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | Russian |
| Published: |
Educational institution «Belarusian State University of Informatics and Radioelectronics»
2024-02-01
|
| Series: | Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki |
| Subjects: | |
| Online Access: | https://doklady.bsuir.by/jour/article/view/3862 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849398475133812736 |
|---|---|
| author | М. М. Tatur М. S. Ihnatsiuk А. D. Konikov |
| author_facet | М. М. Tatur М. S. Ihnatsiuk А. D. Konikov |
| author_sort | М. М. Tatur |
| collection | DOAJ |
| description | This article proposes the formalized methodology for model-based design of mobile platform management systems. The methodology is based on an alternative approach to development, when the model of controlled object is firstly created as a design tool, and then control algorithms are developed. This allows to find the most successful algorithms and select control parameters that are close to optimal in the process of model-based design. As examples, two typical tasks from the field of mobile platform management are given - braking and steering control. The proposed methodology has sufficient unification to be used in the design of control systems for mobile platforms of various types, with different positioning systems, principles of navigation and autopiloting. |
| format | Article |
| id | doaj-art-632d0ba7716a4a419615de585eab23ac |
| institution | Kabale University |
| issn | 1729-7648 |
| language | Russian |
| publishDate | 2024-02-01 |
| publisher | Educational institution «Belarusian State University of Informatics and Radioelectronics» |
| record_format | Article |
| series | Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki |
| spelling | doaj-art-632d0ba7716a4a419615de585eab23ac2025-08-20T03:38:35ZrusEducational institution «Belarusian State University of Informatics and Radioelectronics»Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki1729-76482024-02-01221919910.35596/1729-7648-2024-22-1-91-991970Methodology for Model-Based Design of Mobile Robots Control AlgorithmsМ. М. Tatur0М. S. Ihnatsiuk1А. D. Konikov2Belarusian State University of Informatics and RadioelectronicsBelarusian State University of Informatics and RadioelectronicsBelarusian State University of Informatics and RadioelectronicsThis article proposes the formalized methodology for model-based design of mobile platform management systems. The methodology is based on an alternative approach to development, when the model of controlled object is firstly created as a design tool, and then control algorithms are developed. This allows to find the most successful algorithms and select control parameters that are close to optimal in the process of model-based design. As examples, two typical tasks from the field of mobile platform management are given - braking and steering control. The proposed methodology has sufficient unification to be used in the design of control systems for mobile platforms of various types, with different positioning systems, principles of navigation and autopiloting.https://doklady.bsuir.by/jour/article/view/3862control algorithmmathematical model of the controlled objectmodel-based designsystem analysisadequacy of the modelimitational modeling |
| spellingShingle | М. М. Tatur М. S. Ihnatsiuk А. D. Konikov Methodology for Model-Based Design of Mobile Robots Control Algorithms Doklady Belorusskogo gosudarstvennogo universiteta informatiki i radioèlektroniki control algorithm mathematical model of the controlled object model-based design system analysis adequacy of the model imitational modeling |
| title | Methodology for Model-Based Design of Mobile Robots Control Algorithms |
| title_full | Methodology for Model-Based Design of Mobile Robots Control Algorithms |
| title_fullStr | Methodology for Model-Based Design of Mobile Robots Control Algorithms |
| title_full_unstemmed | Methodology for Model-Based Design of Mobile Robots Control Algorithms |
| title_short | Methodology for Model-Based Design of Mobile Robots Control Algorithms |
| title_sort | methodology for model based design of mobile robots control algorithms |
| topic | control algorithm mathematical model of the controlled object model-based design system analysis adequacy of the model imitational modeling |
| url | https://doklady.bsuir.by/jour/article/view/3862 |
| work_keys_str_mv | AT mmtatur methodologyformodelbaseddesignofmobilerobotscontrolalgorithms AT msihnatsiuk methodologyformodelbaseddesignofmobilerobotscontrolalgorithms AT adkonikov methodologyformodelbaseddesignofmobilerobotscontrolalgorithms |