The article is devoted to the analysis of features and evaluation of the prospects for using the RRT method in the problem of motion planning for autonomous robots. It is noted that the expansion of the areas of application of modern robotics is inextricably linked with an increase in the level of functionality and improvement of the designs of the created samples, for which the placement of a manipulator on a mobile platform becomes a typical layout. Based on a review of the literature and generalization of experimental data, it is shown that the use of the RRT method and its modifications opens up the fundamental possibility of developing a universal motion planner for mobile and manipulative robots, including systems with a manipulator on a mobile platform, as well as systems with a redundant or reconfigurable structure. Based on the results of the analysis, it was found that the effectiveness of the RRT method is largely determined by the declared parameter of the growth factor. A decentralized variant of the counter-growth RRT method is proposed, which makes it possible to plan the movements of autonomous mobile robots in the process of their mutual approach and subsequent docking. The fundamental possibility of automatic docking of autonomous robots in an environment with obstacles is confirmed by the results of a full-scale experiment.
{"title":"Research of the Possibilities of Using a Rapidly Exploring Random Tree Algorithm in Solving Problems of Movement Planning of Autonomous Robots","authors":"V. V. Golubov, S. V. Manko","doi":"10.17587/mau.25.19-30","DOIUrl":"https://doi.org/10.17587/mau.25.19-30","url":null,"abstract":"The article is devoted to the analysis of features and evaluation of the prospects for using the RRT method in the problem of motion planning for autonomous robots. It is noted that the expansion of the areas of application of modern robotics is inextricably linked with an increase in the level of functionality and improvement of the designs of the created samples, for which the placement of a manipulator on a mobile platform becomes a typical layout. Based on a review of the literature and generalization of experimental data, it is shown that the use of the RRT method and its modifications opens up the fundamental possibility of developing a universal motion planner for mobile and manipulative robots, including systems with a manipulator on a mobile platform, as well as systems with a redundant or reconfigurable structure. Based on the results of the analysis, it was found that the effectiveness of the RRT method is largely determined by the declared parameter of the growth factor. A decentralized variant of the counter-growth RRT method is proposed, which makes it possible to plan the movements of autonomous mobile robots in the process of their mutual approach and subsequent docking. The fundamental possibility of automatic docking of autonomous robots in an environment with obstacles is confirmed by the results of a full-scale experiment.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"80 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139440540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article deals with the decomposition of nonlinear differential equations based on the group-theoretic approach. At the beginning, the decomposition of differential equations of linear systems using a transition matrix of state is presented, and then, based on the theory of continuous groups (Lie groups), the process of decomposition of differential equations of nonlinear systems is shown. The decomposition approach is based on the isomorphism theorem of the space of vector fields and Lie derivatives, which allows us to consider vector fields as differential operators of smooth functions. A formula is derived about the adjoin representation of a Lie group in its Lie algebra, which actually determines the finding of a vector field that characterizes the interaction of two or more vector fields. The Lie algebra of derivatives makes it possible to determine the infinitesimal action of the Lie group, i.e. the linearization of this action is carried out (transformation of the points of the trajectory space of the original system in a small neighborhood). Decomposition allows, as in the linear case, to separate the finding of an action (only locally) of a group of transformations from the transformed points themselves. For linear systems, this separation is global. It is also shown that the decomposition of linear equations is a particular case of the decomposition of nonlinear equations. An algorithm of the method of model predictive control with Gramian weighting using this decomposition is presented. A practical example of decomposition and application of the model predictive control for stabilization of a nonstationary nonlinear system is considered.
{"title":"Decomposition of Equations of Nonlinear Affine Control Systems and its Application to the Synthesis of Regulators","authors":"V. I. Krasnoschechenko","doi":"10.17587/mau.25.3-12","DOIUrl":"https://doi.org/10.17587/mau.25.3-12","url":null,"abstract":"The article deals with the decomposition of nonlinear differential equations based on the group-theoretic approach. At the beginning, the decomposition of differential equations of linear systems using a transition matrix of state is presented, and then, based on the theory of continuous groups (Lie groups), the process of decomposition of differential equations of nonlinear systems is shown. The decomposition approach is based on the isomorphism theorem of the space of vector fields and Lie derivatives, which allows us to consider vector fields as differential operators of smooth functions. A formula is derived about the adjoin representation of a Lie group in its Lie algebra, which actually determines the finding of a vector field that characterizes the interaction of two or more vector fields. The Lie algebra of derivatives makes it possible to determine the infinitesimal action of the Lie group, i.e. the linearization of this action is carried out (transformation of the points of the trajectory space of the original system in a small neighborhood). Decomposition allows, as in the linear case, to separate the finding of an action (only locally) of a group of transformations from the transformed points themselves. For linear systems, this separation is global. It is also shown that the decomposition of linear equations is a particular case of the decomposition of nonlinear equations. An algorithm of the method of model predictive control with Gramian weighting using this decomposition is presented. A practical example of decomposition and application of the model predictive control for stabilization of a nonstationary nonlinear system is considered.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"9 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139439876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper is dedicated to the development of a method for the synthesis of the control system of a swarm multicopter. The motion of the agents in the swarm is organised by the thermal motion equivalent method. The idea of the method is the behavioral similarity of the thermal motion of the atoms by the agents. In the practical implementation of the thermal motion equivalent method, it is important to ensure constancy of velocity and isotropy of agent dynamics. Violating these properties will cause the swarm to fail a mission, such as an area exploration, by reducing the RMS speed of the agents to zero. The proposed solution to these problems is to synthesize a modal controller for the agent-boundaries test system for the slowest control channel, thereby ensuring RMS velocity constancy of the agent. The synthesized controller is used as a filter in the fast-acting channels, the second horizontal channel and the vertical channel. In the fast-acting channels, an additional filter is proposed to bring their dynamics to the slowest channel, thereby ensuring isotropy. The inclusion of a limit on the maximum length of the equivalent field vector ensures isotropy. The synthesis was carried out using a simplified multicopter dynamics mathematical model, obtained with small UAV deviations from the vertical and without considering the Coriolis force. The methodology for the synthesis of a multicopter control system for functioning as part of a swarm is developed using the obtained results. Numerical simulation results of both a single vehicle in closed space and a swarm using a more complete nonlinear dynamic quadcopter model are presented. The proposed method has the advantage of simple synthesis using a linear model. Numerical simulation results confirm the operability of the developed methodology.
{"title":"Methodology for the Synthesis of a Multicopter Controller Acting as a Swarm Agent using the Thermal Motion Equivalent Method","authors":"E. Heiss, O. Morozov, A. Kozyr, A. G. Efromeev","doi":"10.17587/mau.25.43-52","DOIUrl":"https://doi.org/10.17587/mau.25.43-52","url":null,"abstract":"The paper is dedicated to the development of a method for the synthesis of the control system of a swarm multicopter. The motion of the agents in the swarm is organised by the thermal motion equivalent method. The idea of the method is the behavioral similarity of the thermal motion of the atoms by the agents. In the practical implementation of the thermal motion equivalent method, it is important to ensure constancy of velocity and isotropy of agent dynamics. Violating these properties will cause the swarm to fail a mission, such as an area exploration, by reducing the RMS speed of the agents to zero. The proposed solution to these problems is to synthesize a modal controller for the agent-boundaries test system for the slowest control channel, thereby ensuring RMS velocity constancy of the agent. The synthesized controller is used as a filter in the fast-acting channels, the second horizontal channel and the vertical channel. In the fast-acting channels, an additional filter is proposed to bring their dynamics to the slowest channel, thereby ensuring isotropy. The inclusion of a limit on the maximum length of the equivalent field vector ensures isotropy. The synthesis was carried out using a simplified multicopter dynamics mathematical model, obtained with small UAV deviations from the vertical and without considering the Coriolis force. The methodology for the synthesis of a multicopter control system for functioning as part of a swarm is developed using the obtained results. Numerical simulation results of both a single vehicle in closed space and a swarm using a more complete nonlinear dynamic quadcopter model are presented. The proposed method has the advantage of simple synthesis using a linear model. Numerical simulation results confirm the operability of the developed methodology.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"91 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139440310","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article presents an algorithm for controlling a ground unmanned vehicle. The main task is to obtain a solution to control problems that allows you to transfer an unmanned vehicle from the initial position to a given final position at a certain time. Currently, autonomous vehicles are being actively introduced in all areas. Including in Russia, you can find unmanned trucks on the federal highway. Given the development of microprocessor technology and the significant economic benefits of using unmanned vehicles, this task is relevant. A lot of research in the field of control of unmanned vehicles concerns the issue of their use in urban environments and on rough terrain. In this paper, we present a solution to the problem of optimal control of an unmanned vehicle using the maximum principle. The problem of optimal control is solved in a deterministic setting with an integro-terminal criterion. The solution of the two-point boundary value problem arising from the maximum principle was carried out using Newton’s method. The ranges of initial values of conjugate variables are obtained, which ensure the convergence of calculations. For the chosen mathematical model of the course movement of the car, solutions to the problem were obtained. The results of numerical simulation are presented, showing the possibility of using the proposed algorithm to control an unmanned vehicle under various initial and final conditions. The developed algorithm has been successfully applied in the presence of a penalty zone. The algorithm can be used when applying the concept of " flexible trajectories" in the tasks of controlling moving objects.
{"title":"Development of an Optimal Control Algorithm for the Course Movement of an Unmanned Vehicle","authors":"S. A. Kabanov, F. Mitin","doi":"10.17587/mau.24.627-633","DOIUrl":"https://doi.org/10.17587/mau.24.627-633","url":null,"abstract":"The article presents an algorithm for controlling a ground unmanned vehicle. The main task is to obtain a solution to control problems that allows you to transfer an unmanned vehicle from the initial position to a given final position at a certain time. Currently, autonomous vehicles are being actively introduced in all areas. Including in Russia, you can find unmanned trucks on the federal highway. Given the development of microprocessor technology and the significant economic benefits of using unmanned vehicles, this task is relevant. A lot of research in the field of control of unmanned vehicles concerns the issue of their use in urban environments and on rough terrain. In this paper, we present a solution to the problem of optimal control of an unmanned vehicle using the maximum principle. The problem of optimal control is solved in a deterministic setting with an integro-terminal criterion. The solution of the two-point boundary value problem arising from the maximum principle was carried out using Newton’s method. The ranges of initial values of conjugate variables are obtained, which ensure the convergence of calculations. For the chosen mathematical model of the course movement of the car, solutions to the problem were obtained. The results of numerical simulation are presented, showing the possibility of using the proposed algorithm to control an unmanned vehicle under various initial and final conditions. The developed algorithm has been successfully applied in the presence of a penalty zone. The algorithm can be used when applying the concept of \" flexible trajectories\" in the tasks of controlling moving objects.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"15 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138594297","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This work explores displaced orbits of solar sails below the Moon’s south pole, near the L2 libration point in the Earth-Moon system. Light pressure provides acceleration for displaced orbits. These orbits enable continuous communication and observation of the Moon’s south polar region, where a lunar base is planned. Linearized dynamic equations yield analytical solutions of displaced orbits, which are either quasi-periodic or periodic. Quasi-periodic orbits have varying altitudes of hundreds of kilometers and a period of about a year, while periodic orbits have fixed altitudes аnd the same period. A sliding mode controller maintains the orbits using sail attitude angles and reflectivity as control variables. With a reflective area to mass ratio of 18 m2/kg, the displaced heights of quasiperiodic and periodic orbits near L2 are 2010.38 km and 2210.06 km, respectively. Numerical simulations confirm the controller’s effectiveness for both orbit types
{"title":"Study on Displaced Orbits Below the Moon’s South Pole Near L2 Point Based on Solar Sail","authors":"W. Yu, O. L. Starinova","doi":"10.17587/mau.24.652-659","DOIUrl":"https://doi.org/10.17587/mau.24.652-659","url":null,"abstract":"This work explores displaced orbits of solar sails below the Moon’s south pole, near the L2 libration point in the Earth-Moon system. Light pressure provides acceleration for displaced orbits. These orbits enable continuous communication and observation of the Moon’s south polar region, where a lunar base is planned. Linearized dynamic equations yield analytical solutions of displaced orbits, which are either quasi-periodic or periodic. Quasi-periodic orbits have varying altitudes of hundreds of kilometers and a period of about a year, while periodic orbits have fixed altitudes аnd the same period. A sliding mode controller maintains the orbits using sail attitude angles and reflectivity as control variables. With a reflective area to mass ratio of 18 m2/kg, the displaced heights of quasiperiodic and periodic orbits near L2 are 2010.38 km and 2210.06 km, respectively. Numerical simulations confirm the controller’s effectiveness for both orbit types","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"8 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138595592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The problem of constructing models with the desired properties, which are used in the algorithmic support of the sighting and navigation complex of the aircraft, has been studied. The quality of the used mathematical models largely determines the accuracy of the correction of the sighting and navigation system, therefore it is proposed to build models directly during the flight using some evolutionary algorithm. For example, using a self-organization algorithm. The ensemble of selection criteria for the self-organization algorithm includes various criteria that determine the properties of the selected models. Depending on the field of application of the models, they are given the desired properties by means of a self-organization algorithm with a variable ensemble of selection criteria. The selection ensemble consists of general, special criteria, as well as a controlled combination of qualitative criteria that selectively improve the performance of models. When the flight mode changes, the influence of one or another special criterion on the process under study changes. The change in the ensemble of selection criteria for the self-organization algorithm occurs automatically during the flight. Degrees of observability, controllability and parametric identifiability are used as improved qualitative characteristics. Over time, the degree of observability, controllabi lity, and parametric identifiability may change. Components that were well observable over time can become poorly observable. The weakly observable components of the state vector, although they are formally observable, in practice are not processed by estimation algorithms, since their evaluation is possible only on sufficiently large intervals of the system operation. A similar situation develops with models in the study of the quality of their controllability, as well as with the parameters of models during their identification. An algorithm for controlling the quality selection criteria and a diagram of the algorithm for generating models during the correction of a promising sighting and navigation complex of an aircraft are presented. Mathematical modeling has been carried out for various flight modes of the aircraft, such as straight flight, flight at different altitudes. The results of the simulation showed the efficiency and effectiveness of the proposed algorithmic solutions
{"title":"Control of the Selection Criteria of the Self-Organization Algorithm in the Problems of Correcting the Navigation Systems of Maneuverable Aircraft","authors":"M. S. Selezneva","doi":"10.17587/mau.24.660-668","DOIUrl":"https://doi.org/10.17587/mau.24.660-668","url":null,"abstract":"The problem of constructing models with the desired properties, which are used in the algorithmic support of the sighting and navigation complex of the aircraft, has been studied. The quality of the used mathematical models largely determines the accuracy of the correction of the sighting and navigation system, therefore it is proposed to build models directly during the flight using some evolutionary algorithm. For example, using a self-organization algorithm. The ensemble of selection criteria for the self-organization algorithm includes various criteria that determine the properties of the selected models. Depending on the field of application of the models, they are given the desired properties by means of a self-organization algorithm with a variable ensemble of selection criteria. The selection ensemble consists of general, special criteria, as well as a controlled combination of qualitative criteria that selectively improve the performance of models. When the flight mode changes, the influence of one or another special criterion on the process under study changes. The change in the ensemble of selection criteria for the self-organization algorithm occurs automatically during the flight. Degrees of observability, controllability and parametric identifiability are used as improved qualitative characteristics. Over time, the degree of observability, controllabi lity, and parametric identifiability may change. Components that were well observable over time can become poorly observable. The weakly observable components of the state vector, although they are formally observable, in practice are not processed by estimation algorithms, since their evaluation is possible only on sufficiently large intervals of the system operation. A similar situation develops with models in the study of the quality of their controllability, as well as with the parameters of models during their identification. An algorithm for controlling the quality selection criteria and a diagram of the algorithm for generating models during the correction of a promising sighting and navigation complex of an aircraft are presented. Mathematical modeling has been carried out for various flight modes of the aircraft, such as straight flight, flight at different altitudes. The results of the simulation showed the efficiency and effectiveness of the proposed algorithmic solutions","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"77 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138595826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Intensive introduction of robotic systems is a modern priority for further automation of human activities. Recent theoretical and practical developments in robotics have made it possible to introduce robots in areas of practical activities previously dominated by humans. Modern trend in robotics is in creating state of the art robotic systems with increased autonomy and expanded functionality. This will allow to relieve human, leaving him supervision functions. An emerging task in robotics is also to create an environment, assisting to create and introduce new perspective robotic systems, also bearing modernization capability. This can be done through improving of modern approaches of creating robotic systems. We foresee necessity to change some of robots’ life-cycle stages, which would allow to rapidly introduce new effective robots into production. The article in its beginning studies some most emerging directions in robotics and new ideas for more effective robotic systems design. During this one should find a balance between introducing drastically new technologies in new robot and perfectioning already existing technologies. Authors propose to use so-called modular-platform based approach for creating new robots. Within it they imply typical structure of a robot, suggesting to use basic platform as a basement for building new robots with varying usefull load. In such case same platform can be used for building inspection robots, unmanned transport systems, unmanned retransmitter etc. The paper presents some already built examples of the approach. Final part of the paper discusses advantages given by application of this approach.
{"title":"Conceptual Propositions for Creation of Perspective Robotic Systems based on Platform-Modular Approach","authors":"S. Graskin, I. L. Ermolov, S. P. Khripunov","doi":"10.17587/mau.24.619-626","DOIUrl":"https://doi.org/10.17587/mau.24.619-626","url":null,"abstract":"Intensive introduction of robotic systems is a modern priority for further automation of human activities. Recent theoretical and practical developments in robotics have made it possible to introduce robots in areas of practical activities previously dominated by humans. Modern trend in robotics is in creating state of the art robotic systems with increased autonomy and expanded functionality. This will allow to relieve human, leaving him supervision functions. An emerging task in robotics is also to create an environment, assisting to create and introduce new perspective robotic systems, also bearing modernization capability. This can be done through improving of modern approaches of creating robotic systems. We foresee necessity to change some of robots’ life-cycle stages, which would allow to rapidly introduce new effective robots into production. The article in its beginning studies some most emerging directions in robotics and new ideas for more effective robotic systems design. During this one should find a balance between introducing drastically new technologies in new robot and perfectioning already existing technologies. Authors propose to use so-called modular-platform based approach for creating new robots. Within it they imply typical structure of a robot, suggesting to use basic platform as a basement for building new robots with varying usefull load. In such case same platform can be used for building inspection robots, unmanned transport systems, unmanned retransmitter etc. The paper presents some already built examples of the approach. Final part of the paper discusses advantages given by application of this approach.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"34 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138596330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Currently, the development of a self-driving car (SDC) is becoming increasingly popular, the full autonomy of which is achieved by automatic control of all its driving modes and maneuvers, including parking — the most common maneuver. The problem of parking automation is of particular relevance, as far as it allows not only to facilitate the process of safe parking, but also to increase the density of parked cars. The paper considers the control problem of automatic parking of SDC. The statement and formalization of the control problem of car parking taking into account the mechanical and spatial constraints ensuring the safety of the parking maneuver are given. Both classical and modern control methods of automatic car parking are considered. The classical control method of SDC parking is based on the utilization of widely used Dubins and Reeds-Shepp traffic models ensuring fast acting optimal car parking. At the same time, the algorithm of a fast-growing random tree RRT was used to construct a path between two points. Due to randomization, an important advantage of this algorithm is its independence from the geometric representation and dimension of the modeled environment of the car. The modern control methods of SDC parking are based on the use of intelligent methods and technologies. In present paper in contrast to the classical, "untrained" methods, the control method of parking based on machine learning is used. The problem of synthesis of control algorithm of SDC parking based on the machine learning method with reinforcement is posed and solved. A car parking algorithm implemented in Python using mathematical libraries Matplotlib and NumPy is synthesized. Computer verification of the synthesized algorithm was carried out and optimal values of machine learning parameters were determined.
{"title":"Algorithmization of Automatic Parking Control of Self-Driving Car","authors":"I. D. Tyulenev, N. B. Filimonov","doi":"10.17587/mau.24.634-642","DOIUrl":"https://doi.org/10.17587/mau.24.634-642","url":null,"abstract":"Currently, the development of a self-driving car (SDC) is becoming increasingly popular, the full autonomy of which is achieved by automatic control of all its driving modes and maneuvers, including parking — the most common maneuver. The problem of parking automation is of particular relevance, as far as it allows not only to facilitate the process of safe parking, but also to increase the density of parked cars. The paper considers the control problem of automatic parking of SDC. The statement and formalization of the control problem of car parking taking into account the mechanical and spatial constraints ensuring the safety of the parking maneuver are given. Both classical and modern control methods of automatic car parking are considered. The classical control method of SDC parking is based on the utilization of widely used Dubins and Reeds-Shepp traffic models ensuring fast acting optimal car parking. At the same time, the algorithm of a fast-growing random tree RRT was used to construct a path between two points. Due to randomization, an important advantage of this algorithm is its independence from the geometric representation and dimension of the modeled environment of the car. The modern control methods of SDC parking are based on the use of intelligent methods and technologies. In present paper in contrast to the classical, \"untrained\" methods, the control method of parking based on machine learning is used. The problem of synthesis of control algorithm of SDC parking based on the machine learning method with reinforcement is posed and solved. A car parking algorithm implemented in Python using mathematical libraries Matplotlib and NumPy is synthesized. Computer verification of the synthesized algorithm was carried out and optimal values of machine learning parameters were determined.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"95 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138596011","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
E. A. Marchuk, A. S. Mikhailov, Ya. V. Kalinin, A. Maloletov
The paper proposes a method for controlling tension forces in statically indeterminable cable-driven systems based on the non-negative least squares method with control of singular or near-singular solutions and a complete search of all possible cable configurations. For cable-driven parallel robots the problem of controlling the cable tension forces is critical, because in the absence of control the cable tension forces are distributed unevenly, which leads to reduced robustness of the system, increased energy consumption and increased deterioration. And in special cases of cable system configuration the tension forces become so great that they lead to cable breaks. At the same time, correction of cable tension force distribution should not lead to significant deviations from the specified position of the mobile platform or, formulating the problem in terms of forces, to violation of kinetostatic equations. Thus, the problem of controlling the tension forces in the cable parallel robot system is solved as a problem of optimizing the tension forces of the cables according to the criteria of minimizing the norm of their vector in the configuration space and minimizing the norm of incoherence of the vector of forces and moments in the operational space of the robot. The developed algorithm is based on the solution of underdetermined systems of linear algebraic equations with finding the minimum least squares norms and subsequent zeroing of negative components of the solution vector. The paper considers examples of the solution of the set problem for the lower cable group of a construction 3D printer based on a cable-driven robot and for a 12-cable system
{"title":"On the Problem of Tension Forces Distribution in Cable System of Cable-Driven Parallel Robot","authors":"E. A. Marchuk, A. S. Mikhailov, Ya. V. Kalinin, A. Maloletov","doi":"10.17587/mau.24.643-651","DOIUrl":"https://doi.org/10.17587/mau.24.643-651","url":null,"abstract":"The paper proposes a method for controlling tension forces in statically indeterminable cable-driven systems based on the non-negative least squares method with control of singular or near-singular solutions and a complete search of all possible cable configurations. For cable-driven parallel robots the problem of controlling the cable tension forces is critical, because in the absence of control the cable tension forces are distributed unevenly, which leads to reduced robustness of the system, increased energy consumption and increased deterioration. And in special cases of cable system configuration the tension forces become so great that they lead to cable breaks. At the same time, correction of cable tension force distribution should not lead to significant deviations from the specified position of the mobile platform or, formulating the problem in terms of forces, to violation of kinetostatic equations. Thus, the problem of controlling the tension forces in the cable parallel robot system is solved as a problem of optimizing the tension forces of the cables according to the criteria of minimizing the norm of their vector in the configuration space and minimizing the norm of incoherence of the vector of forces and moments in the operational space of the robot. The developed algorithm is based on the solution of underdetermined systems of linear algebraic equations with finding the minimum least squares norms and subsequent zeroing of negative components of the solution vector. The paper considers examples of the solution of the set problem for the lower cable group of a construction 3D printer based on a cable-driven robot and for a 12-cable system","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"65 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138595484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
At present, the requirements for the accuracy of aircraft on-board measurement systems are constantly increasing, while sensors contain various errors in signal measurement, primarily random. Noisy signals from onboard measurements can be smoothed or filtered out in a variety of ways. One of the most popular approaches is Kalman filtering, the effectiveness of which has been proven by many studies. This paper presents a comparative analysis of the extended Kalman filter (EKF) and unscented Kalman filter (UKF), used to estimate the pitch angle of an aircraft using bench modeling data. During the simulation, the normal measurement noises are also generated. According to the results obtained in this paper, it can be noted that UKF performs better when a priori knowledge about the process noise is certain. However, the efficiency of UKF in estimating the signal deteriorates when a priori knowledge about the process becomes uncertain while the performance of EKF remains stable. This is due to the fact that UKF uses more sophisticated assumptions and therefore is more sensitive to these assumptions violation. The obtained results also show that various variants of Kalman filtering remain relevant in comparison with the smoothing methods that have spread in recent years, based on the ideas of optimal control and evolutionary algorithms for numerical optimization.
{"title":"A Comparison between Kalman Filtering Approaches in Aircraft Flight Signal Estimation","authors":"O. N. Korsun, Sekou Goro, Moung Htang Om","doi":"10.17587/mau.24.590-597","DOIUrl":"https://doi.org/10.17587/mau.24.590-597","url":null,"abstract":"At present, the requirements for the accuracy of aircraft on-board measurement systems are constantly increasing, while sensors contain various errors in signal measurement, primarily random. Noisy signals from onboard measurements can be smoothed or filtered out in a variety of ways. One of the most popular approaches is Kalman filtering, the effectiveness of which has been proven by many studies. This paper presents a comparative analysis of the extended Kalman filter (EKF) and unscented Kalman filter (UKF), used to estimate the pitch angle of an aircraft using bench modeling data. During the simulation, the normal measurement noises are also generated. According to the results obtained in this paper, it can be noted that UKF performs better when a priori knowledge about the process noise is certain. However, the efficiency of UKF in estimating the signal deteriorates when a priori knowledge about the process becomes uncertain while the performance of EKF remains stable. This is due to the fact that UKF uses more sophisticated assumptions and therefore is more sensitive to these assumptions violation. The obtained results also show that various variants of Kalman filtering remain relevant in comparison with the smoothing methods that have spread in recent years, based on the ideas of optimal control and evolutionary algorithms for numerical optimization.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"333 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135565842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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