NAVIGATION OF THE WHEELED TRANSPORT ROBOT UNDER MEASUREMENT NOISE

The problem of navigation of the simple wheeled transport robot is considered. The problem is solved without use of accelerometers and gyros, but only by using measurement of kinematic parameters of movement. It is supposed, that the sensor of the angle of turn of the steering wheel has a regular error which is necessary to compensate. Correction of navigating data is carried out by means of signals of GPS. It is supposed, that GPS receiver may be in any point on a line connecting the middle of axes of forward and back wheels. The stated approach is based on the condition that the wheeled robot is considered as system with nonholonomic constraints. E±ciency of such navigating system is shown on the example.