Article

Article title THE ALGORITHM PREVENT OF UNCONTROLLABLE MOVEMENT FOR TRACKED ROBOTS
Authors V.N. Naumov, K.Yu. Mashkov, A.A. Pehterev, V.I. Rubtsov
Section SECTION I. GROUND ROBOTICS
Month, Year 01-02, 2017 @en
Index UDC 62-58
DOI
Abstract Efficiency of application of autonomous mobile robots depends largely on the control system for movement. For the crew part of the machine, the issue of selection of optimal speed decides the mechanic-the driver. The speed of movement of autonomous robots, especially on rough terrain, substantially lower and it was caused by the control system. In crawler one of the components of the specific speed is known, a feature like turning that characterizes the controllability of a vehicle under specified conditions. The behavior of a mobile robot in turn depends not only on power density but also on the dimensions of the bearing surfaces of the tracks; pressure; radius of rotation provided by the rotation mechanism; coupling properties, as well as road conditions (turn radius, the coefficients of resistance to movement and rotation). In work the analysis of the dependencies of the velocity of slipping of the tracks from speed chassis tracked robot. To confirm the boundary conditions of controlled curvilinear motion of the chassis of the robot was carried out a quantitative analysis of the movements of the chassis for different ambient conditions and driving modes. The parameters of determining the state of the chassis tracked mobile robot for handling the article the algorithm of a critical control to prevent uncontrollable movement (the overcoming of introduction) for Autonomous mobile tracked robot. The theoretical justification of the developed method. The proposed structural scheme of automatic control system of movement of the Autonomous mobile robot to prevent uncontrollable movement. The mathematical modeling of the movement of the tracked mobile robot for different types of soils and with different speeds in the software package "Universal mechanism" and "MATLAB Simulink". The results of modeling are shown.

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Keywords Tracked robot; сontrol system of movement; uncontrolled motion
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