Autonomous Transport Mean Reverse Movement Control by Nodal Points

摘要

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.