|
Trudy Instituta Matematiki i Mekhaniki UrO RAN, 2010, Volume 16, Number 5, Pages 213–222
(Mi timm624)
|
|
|
|
This article is cited in 18 scientific papers (total in 18 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
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
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
Linking options:
https://www.mathnet.ru/eng/timm624 https://www.mathnet.ru/eng/timm/v16/i5/p213
|
Statistics & downloads: |
Abstract page: | 823 | Full-text PDF : | 413 | References: | 64 | First page: | 13 |
|