MOBILE ROBOT CONVOY MOVEMENT CONTROL
Principles of digital control by mobile robots, organized in convoy structure< in which master robot defines velocity of movement, and slave robots define distance till previous vehicle, is considered. Control system flowchart, mathematical models of convoy as object under control and digital computer, as movement controller, are worked out. It is shown, that digital data processing principle, obtaining from robot sensors, born time delays in feedback contours, that in turn, deteriorate performance of system, such, as overshooting and time of steady state movement regime reaching. Theoretical results are confirmed with example of control the three-robot convoy.