Informatics Publishing Limited

E. G. Borisov ¹, R. U. Dobretsov ¹, S. I. Matrosov ¹

Affiliations
1 The Bonch-Bruevich Saint Petersburg State University of Telecommunications, Saint Petersburg, RU

Abstract

Background: The present research is relevant due to gathering the experience associated with a practical use of a spherical robot as a chassis for placing the local environmental monitoring equipment and due to the revealed need to use such robots within groups. Therefore, the article is aimed at showing the connections between the parameters of the external environment and kinematic, power and energy characteristics of the spherical robot chassis. Method: The main approaches to the research of the present problem are the methods of the transportation vehicle motion theory which in their turn are based on theoretical mechanics and theoretical physics laws, etc. The methodologies enable to significantly simplify a non-holonomic task associated with a sphere motion and to reach kinetic, power and energy characteristics appropriate for a practical use. Findings: The authors have studied the questions related to the estimation of energy expenditure for the spherical robot motion in an arbitrary path, have offered the concept of energy expenditure chart and shown the principles of using such chart for generation of a path of a spherical robot which operates within a multi-agent system. The approach regarding the generation of energy expenditure chart based on the preliminary area survey using a spherical robot has also been studied in the present article. Improvements: The materials of this article are of a practical value when working on the development of the ground component of multi-component multi-agent systems regardless of the type of the agent chassis.

Keywords

Controllability, Interaction of a Running Gear with Soil, Local Environmental Monitoring, Mobility, Multi-Agent System, Spherical Robot, Stability, Transport Task, Transportation Vehicle.

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G. M. Mashkov ¹, E. G. Borisov ¹, S. G. Egorov ¹

Affiliations
1 The Bonch-Bruevich Saint-Petersburg State University of Telecommunications, Russia

Abstract

Background/Objectives: The relevance of the current research is determined by the intensive development of multilateration systems which are widely used in time-positioning support systems. The authors propose to use the cooperative processing of coordinate information. Methods: In the present article a procedure of obtaining the ranging position lines with regard to each station is studied using a theory of redundant measurements which enables to implement cooperative processing. It is shown that using the least squares method, one can obtain the estimation of the required range-measurement parameters containing a minimum value of mean-square error. Findings: In our opinion, the new results of the study show that a multilateration system with one query station which forms a range line of position and with cooperative processing of Time Difference Of Arrival (TDOA) and Time Of Arrival (TOA), in some cases it is characterized by the improved accuracy compared to hyperbolic and elliptic systems. Measurement processing method studied in the present article enables to expand a system work area with respect to the accuracy for multilateration systems with short length base (distances between receiver stations). The offered procedures of radar data processing allow for a formation of range position lines that are indirectly obtained based on hyperbolic and elliptic lines of position. Cooperative processing of measurements in TOA and TDOA finding systems enables to improve the accuracy of the indirect range measurement. TDOA and TOA measurements do not improve the accuracy of the indirect range estimation with the offered method of measurement processing since the accuracy remains constant regardless of the number of stations. Application/ Improvements: The study results obtained could be used to upgrade the existing systems of aircraft position estimation and to make reasonable technical demands on the systems under development.

Keywords

Cooperative Processing, Geometric Dilution of Precision (GDOP), Range, Range–Difference, Total Range.

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