Control of a Virtual Model’s Mobile Robot with Adaptation Based on Information About the Virtual Environment

Abstract

This paper considers the task of methods and algorithms development for control of mobile robots with adaptation based on information about the virtual environment. The implementation of this approach is shown using the example of a virtual robot model moving around obstacles and grasping a virtual object with its manipulator. Proposed solution includes the use of sensors, inverse kinematics and PD controllers. The virtual robot model movement control is based on the virtual position sensors readings and rangefinders mounted on this robot model. In turn, the grasping of an object by a manipulator of robot is implemented using position, orientation and force sensors, as well as using the coordinate descent method to solve the inverse kinematics problem and PD-regulators to provide the desired manipulator motion. The proposed methods and algorithms were tested in the VirSim virtual environment system, developed at the NRC «Kurchatov Institute» - SRISA, using the example for control of a virtual MF-4 tracked robot model.