O.P. Goidin

Synthesis of effective motion algorithms to increase mobility and autonomy of the articulated robotic complex in an undeterminated external environment

The mathematical model of the dynamics of the forward-looking basic chassis of the mobile robotic complex with changing geometry has been proposed.

Theoretical approaches to the synthesis of algorithms to increase autonomy and mobility of the robotic complex by reducing energy costs for direct movement, turning and increasing exchange rate stability in autonomous mode are described. The algorithms synthesized by the author for the selected chassis of RTK are given. Their brief description and the main results of the research developed algorithms on the proposed mathematical model and the prototype of the robotic complex are given.


Keywords: vehicle, articulated chassis frame, mathematical model, the efficiency of the movement, algorithm, autonomous control.

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