Abstract
A complex navigation system for a uniaxial wheeled robot with a two degrees of freedom rotating platform, which is a carrier of environmental monitoring equipment, is proposed. The navigation system includes an odometric subsystem, a block of inertial sensors, laser altimeters, and a receiver of the global navigation satellite system. Integration is carried out based on the use of the Kalman filter, taking into account the possibility of deformation of the wheels and their slippage when the robot moves relative to the non-horizontal underlying surface. The results of semi-natural modeling confirmed the effectiveness of the decisions made.
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