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Trudy Instituta Matematiki i Mekhaniki UrO RAN, 2010, Volume 16, Number 5, Pages 213–222 (Mi timm624)  

This article is cited in 19 scientific papers (total in 19 papers)

Mobile robots controlled by the motion of internal bodies

F. L. Chernousko, N. N. Bolotnik

A. Ishlinsky Institite for Problems in Mechanics, Russian Academy of Sciences
References:
Abstract: Control problems for mobile robotic systems able to move in resistive media due to the motion of internal bodies that interact with the main body of the robot but do not interact with the medium are considered. The optimal periodic motions of the internal bodies that sustain a velocity-periodic motion of the main body relative to the medium and maximize the average speed are searched for. Three types of resistance to the motion of the robot's main body in the medium are considered: piecewise-linear friction, quadratic-law friction, and Coulomb's dry friction.
Keywords: systems with movable internal bodies, motion in resistive environment, optimal control, mobile robots.
Received: 24.02.2010
Bibliographic databases:
Document Type: Article
UDC: 517.977+519.63
Language: Russian
Citation: F. L. Chernousko, N. N. Bolotnik, “Mobile robots controlled by the motion of internal bodies”, Trudy Inst. Mat. i Mekh. UrO RAN, 16, no. 5, 2010, 213–222
Citation in format AMSBIB
\Bibitem{CheBol10}
\by F.~L.~Chernousko, N.~N.~Bolotnik
\paper Mobile robots controlled by the motion of internal bodies
\serial Trudy Inst. Mat. i Mekh. UrO RAN
\yr 2010
\vol 16
\issue 5
\pages 213--222
\mathnet{http://mi.mathnet.ru/timm624}
\elib{https://elibrary.ru/item.asp?id=15265848}
Linking options:
  • https://www.mathnet.ru/eng/timm624
  • https://www.mathnet.ru/eng/timm/v16/i5/p213
  • This publication is cited in the following 19 articles:
    1. B. S. Bardin, A. A. Rachkov, E. A. Chekina, A. M. Chekin, “O periodicheskikh rezhimakh dvizheniya tela po gorizontalnoi sherokhovatoi ploskosti, realizuemykh posredstvom peremescheniya dvukh vnutrennikh mass”, Kompyuternye issledovaniya i modelirovanie, 16:1 (2024), 17–34  mathnet  crossref
    2. A. Y. Shamin, A. A. Rachkov, “On the Motion of a Vibrating Robot on a Horizontal Plane with Anisotropic Friction”, Rus. J. Nonlin. Dyn., 20:5 (2024), 945–959  mathnet  crossref
    3. A. V. Klekovkin, “Modelirovanie dvizheniya bezvintovogo mobilnogo robota s neizmenyaemoi formoi obolochki upravlyaemogo s pomoschyu vrascheniya vnutrennego rotora”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 30:4 (2020), 645–656  mathnet  crossref  elib
    4. Bilchenko G.G., Applied Mathematics, Computational Science and Mechanics: Current Problems, Journal of Physics Conference Series, 1479, IOP Publishing Ltd, 2020  crossref  isi  scopus
    5. B. S. Bardin, A. S. Panev, “O postupatelnom pryamolineinom dvizhenii tvërdogo tela, nesuschego podvizhnuyu vnutrennyuyu massu”, Trudy Matematicheskogo instituta im. S.M. Nikolskogo RUDN, SMFN, 65, no. 4, Rossiiskii universitet druzhby narodov, M., 2019, 557–592  mathnet  crossref
    6. A. A. Kilin, A. I. Klenov, V. A. Tenenev, “Upravlenie dvizheniem tela s pomoschyu vnutrennikh mass v vyazkoi zhidkosti”, Kompyuternye issledovaniya i modelirovanie, 10:4 (2018), 445–460  mathnet  crossref
    7. Bardin B. S., Panev A. S., “On the Motion of a Body with a Moving Internal Mass on a Rough Horizontal Plane”, Nelin. Dinam., 14:4 (2018), 519–542  mathnet  crossref  elib
    8. Golitsyna M.V., “Periodic Regime of Motion of a Vibratory Robot Under a Control Constraint”, Mech. Sol., 53:1 (2018), 49–59  crossref  mathscinet  isi  scopus
    9. Golitsyna M.V., Samsonov V.A., “Estimating the Domain of Admissible Parameters of a Control System of a Vibratory Robot”, J. Comput. Syst. Sci. Int., 57:2 (2018), 255–272  crossref  mathscinet  zmath  isi  scopus
    10. Bilchenko G.G., International Conference Applied Mathematics, Computational Science and Mechanics: Current Problems, Journal of Physics Conference Series, 973, IOP Publishing Ltd, 2018  crossref  isi  scopus
    11. Bilchenko Sr. Grigory, Bilchenko Jr. Grigory, Bilchenko N., “On Motions of a Carrier With a Mobile Load Along a Rough Inclined Plane”, AIP Conference Proceedings, 1959, eds. Kustova E., Leonov G., Morosov N., Yushkov M., Mekhonoshina M., Amer Inst Physics, 2018, UNSP 030003  crossref  isi  scopus
    12. A. Yu. Maiorov, “O destabilizatsii polozheniya ravnovesiya, vyzvannoi lineinymi i kvadratichnymi silami vyazkogo treniya”, Zhurnal SVMO, 18:3 (2016), 49–60  mathnet  elib
    13. E. V. Vetchanin, Yu. L. Karavaev, A. A. Kalinkin, A. V. Klekovkin, E. N. Pivovarova, “Model bezvintovogo podvodnogo robota”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 25:4 (2015), 544–553  mathnet  elib
    14. Evgeny V. Vetchanin, Ivan S. Mamaev, Valentin A. Tenenev, “The Self-propulsion of a Body with Moving Internal Masses in a Viscous Fluid”, Regul. Chaotic Dyn., 18:1-2 (2013), 100–117  mathnet  crossref  mathscinet  zmath
    15. E. V. Vetchanin, V. A. Tenenev, A. S. Shaura, “Upravlenie dvizheniem zhestkogo tela v vyazkoi zhidkosti”, Kompyuternye issledovaniya i modelirovanie, 5:4 (2013), 659–675  mathnet  crossref
    16. Volkova L.Yu., Yatsun S.F., “Simulation of the Plane Controlled Motion of a Three-MASS Vibration System”, J. Comput. Syst. Sci. Int., 51:6 (2012), 859–878  crossref  mathscinet  zmath  isi  elib
    17. Yatsun S.F., Volkova L.Yu., “Modelirovanie dinamicheskikh rezhimov vibratsionnogo robota, peremeschayuschegosya po poverkhnosti s vyazkim soprotivleniem”, Spetstekhnika i svyaz, 2012, no. 3, 25–29  elib
    18. E. Vetchanin, I. S. Mamaev, V. A. Tenenev, “Dvizhenie tela s peremennoi geometriei mass v vyazkoi zhidkosti”, Nelineinaya dinam., 8:4 (2012), 815–836  mathnet
    19. L. Yu. Volkova, S. F. Yatsun, “Upravlenie dvizheniem trekhmassovogo robota, peremeschayuschegosya v zhidkoi srede”, Nelineinaya dinam., 7:4 (2011), 845–857  mathnet
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