Development of sensing and control algorithms for collaborative mobile robots with hybrid holonomy
D. N. Zakharov, Alexandr D. Panin, A.M. Yaremenko, D. R. Aliev, Oleg I. Borisov · Известия высших учебных заведений. Приборостроение · 2025
The development of control and sensing algorithms for collaborative mobile robots with hybrid holonomy is discussed. A mobile platform with a roller locking device providing transition between omnidirectional and all-wheel drive modes is considered. The system structural diagram, control algorithms for the motors and the locking device, and the method for processing data from sensors are presented.