Study of pointing system for implementation of optical communication of mobile robots

Abstract

Hardware and software solutions for high-precision pointing tasks have found application in various fields of robotics. For mobile robots operating in extreme conditions, pointing of instruments, data transmission systems and navigation devices is a task of prime importance. Using the visual system as a feedback, it is possible to achieve pointing of aircraft embedded instruments with high accuracy. The issues of interest for this work on the development of a high-frequency guidance control loop and its implementation using the visual system as feedback remain relevant for research. In the course of this work, a study was carried out for the use of such systems. Based on the previously derived requirements for the system, the architecture of the pointing system was developed. Next, a variant of the control system implementation was investigated to achieve the required accuracy of instrument pointing. In addition, hardware solution was considered and a system model was built taking into account the mutual influence of the pointing system drives, and with a closed control loop.