Transport group control system of unmanned ground vehicles for various soils

Transport group control system of unmanned ground vehicles for various soils

Valeriy G. Gradetsky
Doctor of Technical Science, Professor, Ishlinsky Institute for Problems in Mechanics of RAS (RAS IPMech), Chief Research Scientist, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, tel.: +7(495)434-41-49, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-7617-3619

Ivan l. Ermolov
Doctor of Technical Science, Professor, RAS IPMech, Leading Research Scientist, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, tel.: +7(495)434-35-47, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-8458-7982

Maxim M. Knyaz'kov
PhD in Technical Sciences, RAS IPMech, Senior Research Scientist, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, tel.: +7(495)495-434-77-66, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-5863-4079

Boris S. Lapin *
Federal State Educational Institution of Higher Education «Moscow State Technological University «STANKIN» (FGBOU VO «MSTU «STANKIN»), Student, 101-1, 1, Vadkovsky per., Moscow, 127055, Russia, tel.: +7(917)565-10-32, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-5844-3301

Eugeny A. Semenov
PhD in Technical Sciences, RAS IPMech, Senior Research Scientist, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, tel.: +7(495)495-434-77-66, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6196-1433

Sergey A. Sobol'nikov
PhD in Technical Sciences, FGBOU VO «MSTU «STANKIN», Assistant Professor, 101-1, 1, Vadkovsky per., Moscow, 127055, Russia, tel.: +7(926)387-90-88, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3908-9458

Artem N. Sukhanov
RAS IPMech, Junior Research Scientist, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, tel.: +7(495)495-434-77-66, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-4122-492X

Received 12 November 2019 

Abstract
Approach for solving of transport task for group of one-type wheeled robots’ moving by surfaces with various adhesive characteristics was suggested. The algorithm for the motion of a group of robots carrying an object with a given configuration along a given trajectory was formulated. Calculations of needed speeds and accelerations of robots moving in a group and carrying a massive object are given. On the basis of presented calculation method the algorithm was successfully tested in previously developed special software for modeling and debugging.

Key words
Group control, transport task, mobile robotics, control system model.

Acknowledgements
This work is supported by RFBR grant no.16-29-04199 and partially by the RAS Presidium program «Current problems of robotic systems».

DOI
https://doi.org/10.31776/RTCJ.8107

Bibliographic description
Gradetsky, V. et al. (2020). Transport group control system of unmanned ground vehicles for various soils. Robotics and Technical Cybernetics, 8(1), pp.61-71.

UDC identifier:
004.896:62-50

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