Software/hardware design of decision-making controllers for object navigation in horizontal plane

Abstract

The paper aims to research the orientation possibilities of an object in the horizontal plane, from its start course into a required orientating recourse, by using simplified navigation methods. The object's directed motion uses controlling powering impulses, variable distributed in time, during constrained motion time. Three logical decision-making methods are designed for calculating the best maneuvering trajectory with minimal error on the target. Computing the powering impulses, their execution instances, as well as their types, are ensured by the methods and presented in the paper. The developed controlling methods are: a modified multiple shooting method, a new control law, called in this paper, current error orientation, as well as a fuzzy logic method. These methods are designed as decision-making software implemented in an electronic hardware as a predefined programmable controller. This provides pre-programmable orientation of the object at the very beginning of course motion, towards a targeted point settled out of initial direction. The controlling methods use optimal diversification of full elapsed determining time to execute, in sequences, appropriate types and number of powering impulses. Simulation tests of the methods, as well as the designed hardware, are also presented in this paper as a contribution to the development researches of horizontal motion control.