Robust Control of Excavation Mobile Robot with Dynamic Triangulation Vision

Abstract

The problem of control system synthesis for excavation works autonomous mobile robot on the basis of the game approach is considered. Vision function and spatial orientation of the robot is realized by the dynamic triangulation laser vision system. It is assumed that the real state of the object belongs to the certain set of potential states in the form of polyhedron. Simulation results and functional ability analysis for the proposed control system are concluded.