15.7.2009: Bachelor degree paper defense of M.E. Halizev.

The 29th of June 2009 Bachelor degree paper «Development of control system of motion for compact mobile robot chassis» of MIPT student – Halizev M.E. was defenced.




The paper of Michael deals with the problem of adaptive control system creation for the mobile robot. Michael has participated in development of adaptive system that provides realization of parallel car parking. The objective for Michael was to implement parallel parking on physical simulator of the mobile robot [A.A. Zhdanov, D.M. Klimov, V.V. Korolev, A.E. Utemov Modeling of parallel car parking process]. At first, it was necessary to modify adaptive control system in such a way that it can learn to guide the mobile robot parallel to barrier on the given distance. The implementation of this task has demanded refitting of sensor and executive robot systems along with control system. Due to reorganization of sensor system, the robot eyesight has been received «off-center eyesight», and executive robot mechanism, due to modification have provided possibility of robot motion as a car without in-place turn that used earlier. Program code of adaptive control system was modified in such way that control system could learn execution of given maneuver – drive along barrier on the given distance. As a result of real experiment it was showed that the robot by itself successfully utilizes driving along barrier, rounds barrier’s irregularities and step by step improves control quality. Thereby the objective of the project has been successfully completed by Michael.
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