gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.0083gyroscopy-122Research ArticleСтатьиЗадачи управления движением автономных колесных роботов в точном земледелииMotion Control of Autonomous Wheeled Robots in Precision Agriculturehttps://orcid.org/0000-0002-3717-4253ТормаговТ. А.TormagovT. A.Тормагов Тимофей Алексеевич. Инженер; ассистентМосква

Moscow

https://orcid.org/0000-0002-5541-2606ГенераловА. А.GeneralovА. А.Генералов Алексей Анатольевич. Кандидат технических наук, старший научный сотрудникМосква

Moscow

https://orcid.org/0000-0001-6658-4326ШавинМ. Ю.ShavinM. Yu.Шавин Михаил Юрьевич. Младший научный сотрудникhttps://orcid.org/0000-0002-9882-925XРапопортЛ. Б.RapoportL. B.Рапопорт Лев Борисович. Доктор физико-математических наук, доцент, главный научный сотрудник; профессор

 

Сколковский институт науки и технологий; Московский физико-технический институтРоссияSkolkovo Institute of Science and Technology; Moscow Institute of Physics and TechnologyRussian FederationИнститут проблем управления им. В.А. Трапезникова РАНРоссияInstitute of Control SciencesRussian FederationСколковский институт науки и технологийРоссияSkolkovo Institute of Science and TechnologyRussian FederationИнститут проблем управления им. В.А. Трапезникова РАН; Московский физико-технический институтРоссияMoscow Institute of Physics and Technology; Institute of Control SciencesRussian Federation2022200520253013960Copyright © Тормагов Т.А., Генералов А.А., Шавин М.Ю., Рапопорт Л.Б., 20252025Тормагов Т.А., Генералов А.А., Шавин М.Ю., Рапопорт Л.Б.Tormagov T.A., Generalov А.А., Shavin M.Y., Rapoport L.B.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/122

В точном земледелии предполагается использование методов точной навигации, определения относительной ориентации и обнаружения препятствий в целях экономии определенных ресурсов и получения лучших результатов. Эффективное использование собранных данных о позиции и ориентации робота и о расположении препятствий позволяет создавать алгоритмы управления работой автономных сельскохозяйственных машин. Эти алгоритмы решают задачи планирования путей, маршрутизации роботов, стабилизации движения по заданным путям, объезда препятствий и обеспечения гарантированности поведения. В работе рассматриваются перечисленные задачи.

Precision agriculture makes use of high-accuracy navigation, attitude determination, and obstacle detection methods to save resources and to obtain better results. The collected robot position and attitude, and obstacle location data can be effectively employed to synthesize control algorithms for autonomous agricultural machines. These algorithms are applied for coverage path planning, route planning, motion stabilization along the specified paths, obstacle avoidance, and ensuring guaranteed behavior. These tasks are considered in the paper. 

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The authors declare that there are no conflicts of interest present.