I PRIKLADNAYA MATEMATIKA
(FUNDAMENTAL AND APPLIED MATHEMATICS)
2005, VOLUME 11, NUMBER 8, PAGES 29-80
Yu. G. Martynenko
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The vector-matrix formalism of nonholonomic mechanics is set up, that is used to construct mathematical models of mobile wheeled robots. The properties of free (ballistic) motions of mobile robots are researched, which can be the basis of natural motion control modes. The analysis of uncontrollable motions is carried out, taking transients in circuits of the electric drive into consideration. The problem of determining voltages supplied to drives of the robot that ensure implementation of program motions is discussed. One candidate solution of a problem of planning a pathway of the robot in an ordered medium is presented. The mobile single-wheel robot with a gyroscopic stabilization system is described--the "Gyrowheel" robot, capable to move autonomously, along a straight-line (rectilinear motion), as well as along a curvilinear pathway.
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