This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from the current position of the mobile robot to a prescribed position taking its orientation into account. The proposed control system consists of two artificial neural networks. One of them serves to specify the position and the size of the obstacle, and the other forms a continuous trajectory to reach it, taking into account the information received, the coordinates, and the orientation at the point of destination. The neural network is trained on the basis of samples obtained by modeling the equations of motion of the wheeled robot which ensure its motion along trajectories in the form of Euler’s elastica.

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot. A description is given for a prototype of the highly maneuverable robot with four omniwheels, for which an algorithm for setting the coefficients of the PID controller is considered. Experiments on the motion of the robot were conducted at different angles, and the orientation of the platform was preserved. The experimental results are analyzed and statistically assessed.

QR (quick response) Codes are one of the most popular types of two-dimensional (2D) matrix codes currently used in a wide variety of fields. Two-dimensional matrix codes, compared to 1D bar codes, can encode significantly more data in the same area. We have compared algorithms capable of localizing multiple QR Codes in an image using typical finder patterns, which are present in three corners of a QR Code. Finally, we present a novel approach to identify perspective distortion by analyzing the direction of horizontal and vertical edges and by maximizing the standard deviation of horizontal and vertical projections of these edges. This algorithm is computationally efficient, works well for low-resolution images, and is also suited to real-time processing.

The article deals with integrating the inertial navigation unit implemented into the system of controlling the robot. It analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers. The implementation of the original system of controlling the mobile robot on the basis of autonomous navigation systems is a dominant part of the article. The integration of navigational information represents the actual issue of reaching higher accuracy of required navigational parameters using more or less accurate navigation systems. The inertial navigation is the navigation based on uninterrupted evaluation of the position of a navigated object by utilizing the sensors that are sensitive to motion, that is, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.