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Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki, 2020, Volume 30, Issue 4, Pages 645–656
DOI: https://doi.org/10.35634/vm200408 (Mi vuu747) 		 
This article is cited in 5 scientific papers (total in 5 papers)

MECHANICS

Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor

A. V. Klekovkinab

a Innopolis University, Innopolis, 420500, Russia
b Kalashikov Izhevsk Technical State University, ul. Studencheskaya, 7, Izhevsk, 426069, Russia
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DOI: https://doi.org/10.35634/vm200408
Abstract: We consider a propellerless robot that moves on the surface of a fluid by rotating of the internal rotor. The robot shell has a symmetric shape of NACA 0040 airfoil. The equations of motion are written in the form of classical Kirchhoff equations with terms describing the viscous friction. The control action based on the derived model is proposed. The influences of various model parameters on the robot's trajectory have been studied.
Keywords: mobile robot, propellerless robot, aquatic robot, motion simulation, Kirchhoff equations.
Funding agency Grant number
Russian Foundation for Basic Research 18-08-00995_а
The study was funded by RFBR, project number 18-08-00995-a.
Received: 27.09.2020
Bibliographic databases:
Document Type: Article
UDC: 531.31, 517.912
MSC: 70E15, 37J60, 76Dxx
Language: Russian
Citation: A. V. Klekovkin, “Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor”, Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 30:4 (2020), 645–656
Citation in format AMSBIB
\Bibitem{Kle20}
\by A.~V.~Klekovkin
\paper Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor
\jour Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki
\yr 2020
\vol 30
\issue 4
\pages 645--656
\mathnet{http://mi.mathnet.ru/vuu747}
\crossref{https://doi.org/10.35634/vm200408}
\elib{https://elibrary.ru/item.asp?id=44404791}
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    • This publication is cited in the following 5 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Вестник Удмуртского университета. Математика. Механика. Компьютерные науки
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