title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ñ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð¼ ÐÐºÐºÐµÑÐ¼Ð°Ð½Ð°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Research and development of the odometry algorithm of a mobile robot with an Ackerman drive
Creators: name: ÐÐ¾Ð·ÑÑÐ°, ÐÐ¾Ð½ÑÑÐ°Ð½ÑÐ¸Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ñ
Ð¿ÑÐ¸Ð²Ð¾Ð´ ÐÐºÐºÐµÑÐ¼Ð°Ð½Ð°
Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ
Ð¾ÑÐµÐ½ÐºÐ° Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ
Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ
odometry
Ackerman drive
navigation
position estimation
mobile robot

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÑÑÑÑ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÐºÐ¾Ð»ÐµÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â Ð¾ÑÐµÐ½ÐºÐ° Ð¿ÑÐ¸Ð¼ÐµÐ½Ð¸Ð¼Ð¾ÑÑÐ¸ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ ÑÐ¾ÑÐµÐ²Ð½Ð¾Ð²Ð°Ð½Ð¸Ð¹ ÐºÐ»Ð°ÑÑÐ° Â«Formula StudentÂ» Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð½Ð° Ð¸Ñ Ð¾ÑÐ½Ð¾Ð²Ðµ ÑÐ¾Ð±ÑÑÐ²ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð°. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð»Ð¸, ÑÑÐ¾ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ Ð¾ÑÐµÐ½ÐºÐ¸ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ð½Ðµ ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²ÑÑÑ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÐ¼ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸ÑÐ¼, Ð² ÑÐ²ÑÐ·Ð¸ Ñ ÑÐµÐ¼ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð½Ð¾Ð²Ð°Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ. ÐÑÐ»Ð¸ÑÐ¸ÐµÐ¼ Ð½Ð¾Ð²Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ²Ð»ÑÐµÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð² ÐºÐ°ÑÐµÑÑÐ²Ðµ Ð¸ÑÑÐ¾Ð´Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð¸ÑÐºÐ»ÑÑÐ¸ÑÐµÐ»ÑÐ½Ð¾ ÑÐºÐ¾ÑÐ¾ÑÑÐµÐ¹ ÐºÐ¾Ð»ÐµÑ Ð¸ Ð½ÐµÐ¸Ð·Ð¼ÐµÐ½ÑÐµÐ¼Ð¾Ð¹ Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸Ð¸ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð°, ÑÑÐ¾ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÐµÑ Ð¸Ð·Ð±Ð°Ð²Ð¸ÑÑÑÑ Ð¾Ñ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð² Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ ÑÑÐ»ÐµÐ²Ð¾Ð³Ð¾ ÐºÐ¾Ð»ÐµÑÐ° Ð¸ ÑÐ¼Ð¿Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐµÐ¹. ÐÐ±Ð»Ð°ÑÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² â Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð°Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ°, Ð³ÑÐ°Ð¶Ð´Ð°Ð½ÑÐºÐ¾Ðµ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÑÑÑÐ¾ÐµÐ½Ð¸Ðµ, Ð°Ð²ÑÐ¾ÑÐ¿Ð¾ÑÑ. ÐÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¹ ÑÐ°Ð±Ð¾ÑÑ Ð·Ð°ÐºÐ»ÑÑÐ°ÑÑÑÑ Ð² Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ð¸ Ð¸ÑÐ¿ÑÑÐ°Ð½Ð¸Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð² ÑÐµÐ°Ð»ÑÐ½ÑÑ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ.
description: The subject of the graduate qualification work is âResearch and development of the odometry algorithm of a mobile robot with an Ackerman driveâ. The object of research is mathematical models of mobile wheeled robots and odometry algorithms. The purpose of the work is to estimate the applicability of existing odometry algorithms in the conditions of "Formula Student" class competitions and develop a new algorithm based on them. The results of the work showed that the existing methods for estimating the position of mobile robots do not meet the requirements, and therefore a new mathematical model was developed. The difference of the new model is the use of exclusively wheel speeds and unchangeable drive geometry as input data, which allows to get rid of steering wheel position sensors and empirical dependencies. The field of application of the results is mobile robotics, civil automotive industry, motorsport. The prospects for further work are to test the model and algorithm in real conditions.