Selection of a mathematical model of the mobile robot motion and the method for determining the ground contacting area

Authors: Zuev E.S.
Published in issue: #7(36)/2019
DOI: 10.18698/2541-8009-2019-7-502
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mobile robot, mathematical model, flotation, tracked propulsion, robotic complex, autonomous movement, adaptive controller, soil
Published: 30.07.2019

This article considers the problem of providing autonomous movement of a middle class tracked mobile robot. The analysis of the existing mathematical models of the mobile robots movement is given taking into account the ground contacting area. The paper contains a spatial model of a mobile caterpillar robot motion and a model of plane-parallel motion, which takes into account the slip of both sides’ tracks, a model of uneven rotation, and a mathematical model describing a separate rectilinear motion and rotation. The analysis is carried out for methods of determining the properties of the ground contacting area for the autonomous tracked mobile robot of a heavy class. Based on the conducted research, conclusions were drawn about the applicability of the proposed mathematical models and methods for determining the properties of the ground contacting area in practice. The authors developed stages for modeling an adaptive motion controller of a mobile robot.

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