Development of mobile robot control algorithms based on ackerman conditions

Abstract

In this paper, we consider a control system for a mobile robot based on differential equations of motion and Ackerman conditions. The main purpose of the research is to develop an algorithm that allows the robot to move efficiently to a given target point, while controlling the angle of rotation and linear velocity. The work begins with determining the necessary formulas for calculating the distance to the target and the angle of rotation, which allows the robot to navigate in space. Then are described that allow you to control the angle of rotation of the wheels and speed calculations taking into account the distance to the target point. To ensure

smooth and safe movement, an iterative controller is created that updates the robot's state

(coordinates and orientation) at each time step. An important part of the work is the implementation of the algorithm in the form of Python program , including graphical visualization of the robot's trajectory using the Matplotlib library. Thus, the work demonstrates the implementation of theoretical aspects of management in practical application, which can be useful for the development of autonomous robots in various fields such as logistics, agriculture and research. The results of the study show that the proposed approach allows the robot to effectively maneuver and adapt to in the environment, ensuring high accuracy of movement and safety of tasks.