Control Algorithms of a Mobile Robot with Castor Wheels in Field with Barriers

摘要

There are different kinematic schemes of wheeled mobile robots. This article presents full four - wheeled drive with two steer wheels. Specific algorithms of the mobile robot’s movements in field with barriers have been developed. All the algorithms have been implemented in practice and tested on a work-performing robot. Scientific novelty of the article consists in the usage of only one simple indicator of a working area. Besides, any sensor, including a contact one, can be used as such an indicator. The application of these algorithms is evident - they may be primarily used in control systems of self - driving cars.