Adjustment of parameters of autonomous mobile robot speed and heading stabilization subsystem controllers on the basis of pareto-optimal solution construction process
Oleg A. Tyagunov, Maksim A. Teplov, Evgeniya A. Slepynina · 2018
In this article, statement of a problem of adjustments of parameters of typical controllers for stabilization of speed and heading of a mobile robot is considered. To solve the problem, a technology of the multi-criteria selection of the parameters based on stochastic investigation of multivariate parameter space with the subsequent construction of the approached border of Pareto points has been offered. Methods of stabilization for different type mobile robots were pointed out. Stability index and oscillability were selected as the optimality criteria. In a number of experiments, Pareto points for four types of controllers were obtained. A simulation model developed with the Universal Mechanism software complex was used to test the controllers' adjustments obtained.