Volume 4, Issue 5, October 2019, Page: 73-78
Autonomous Transport Mean Reverse Movement Control by Nodal Points
Michael Rachkov, Department of Mechanical Engineering, Moscow Polytech, Moscow, Russia
Sergey Petukhov, Department of Mechanical Engineering, Moscow Polytech, Moscow, Russia
Received: Sep. 20, 2019;       Accepted: Sep. 21, 2019;       Published: Nov. 22, 2019
DOI: 10.11648/j.ajetm.20190405.11      View  18      Downloads  6
Abstract
The study presents an exact formulation of control for the reverse moving a transport mean along a polygonal course consisting of rectilinear segments interconnected by nodal points. Appropriateness of the question is caused by the need to figure out a several of tasks: to secure the transport mean in the occasion of а communication crash by returning along the course already passed, to escape rotation in constrained or unsafe conditions, or partial go back for the following avoid of the hurdle and continuation of the forward motion. The control method of forward motion assumes that the route of movement is predetermined, and the path is elaborated by using landmarks. Video cameras are placed on the transport mean for landmark measurement. They are controlled by the operator through the radio channel. Errors in estimating deviation from the supposed course are detected using the multidimensional correlation investigation instrument based on the dynamics of a lateral deviation mistake and a velocity mistake. Reception algorithm of the information is presented on reference points. The outcome of the test showed a considerable preciseness in determining the position vector that provides the reverse movement relative to the reference course with a reasonably admissible mistake while returning to the start spot.
Keywords
Automatic Control, Reverse Motion, Navigation, Landmarks, Correlation Analysis, Reference Trajectory
To cite this article
Michael Rachkov, Sergey Petukhov, Autonomous Transport Mean Reverse Movement Control by Nodal Points, American Journal of Engineering and Technology Management. Vol. 4, No. 5, 2019, pp. 73-78. doi: 10.11648/j.ajetm.20190405.11
Copyright
Copyright © 2019 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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