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Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN Druckformat: 1064-2315
ISSN Online: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v44.i12.10
pages 1-11

On Maneuvering of the Wheeled Transport Robot

Vladimir B. Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine

ABSTRAKT

In kinematic approximation for single-link and three-link wheeled transport robot the problem of control of robot maneuvering is considered. Maneuver includes both phase of forward motion of robot and phase robot motion in reverse direction. We adduce relation, which enables optimal values of rotation angle of steering wheel at the beginning of every phase of robot motion to be selected. Results of modeling showed efficiency of the suggested control algorithm.


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