Motion control of mobile robot

The article discusses creation of algorithms for systems of automatic control of mobile robot. The problem is solved within the framework of the structure that allows to separate it into two consistently included subsystems. One of the subsystems is named "the model of a computer software control". It generates a program trajectory. The second subsystem is named "the object-regulator". It controls this program trajectory. The article presents a simplified motion model of the center of mass of robot and the constraints imposed on its coordinates and controls. The article presents a synthesized algorithm for choice of program control over the phase portrait of the system by analyzing the position of the image point relatively to the surface and the switching line by the criterion of minimizing the deviation of the program trajectory from the straight line, that is connecting the start and the end points of the route. The efficiency of the proposed approach and the performance of the synthesized algorithm are tested by mathematical modeling.