The System of Coordinated Semi-Automatic Remote Control by Two Mobile Robots

The paper discusses a method that ensures the coordinated operation of two mobile robots, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. At the same time, the task of remote control of the manipulator of the main mobile robot performing operations in the cramped conditions of the working area, when the objects of work are out of sight of its vision system, is solved. In this situation, the vision system of an auxiliary and more maneuverable mobile robot is used to monitor the objects of work when performing various operations with them. In addition, this vision system is able to change the spatial orientation by rotating about two mutually perpendicular axes. The mathematical apparatus proposed in the paper allows to take into account the different current spatial orientation of the base platforms of both mobile robots at the angles of roll, pitch and yaw in the absolute coordinate system. The results of the simulation confirmed the efficiency of the proposed method.