ABSTRAKT

The problem of navigation of the wheeled transport robot with two steering wheels is considered. The problem is solved without the use of accelerometers and gyroscopes, but only by measurement of kinematic parameters of movement. It is supposed, that sensors of turning angles of the steering wheels have regular errors which it is necessary to compensate. Correction of navigating parameters is carried out by signals of GPS. The case when only one of the sensors of turning angles of the steering wheels has a regular error considered in detail. The stated approach is based on the treatment of the wheeled robot as a system with nonholonomic constraints. The efficiency of the algorithm of such navigating system is shown on the example.