Construction of a trajectory of programmed motion for coordinated control system of electric drives of a four-wheel mobile robot

Meshkovskiy E. O.

The problem of parametric optimization of the system controller of coordinated control of a four-wheeled mobile robot with two differential drive units is considered. In the process of solving it, the objective function was derived, a criterion was compiled, and a method for optimizing parameters was selected. In conclusion, the article presents the results of numerical experiments on a graph the trajectory errors before and after the parametric optimization of a nonlinear and a fuzzy system controller.

Keywords:wheel robot, differential drive unit, coordinated control, parametric optimization, batch learning, conjugate gradient method, Brent method