Ivan Anatolievich Vasiliev ¹, Alexander Vladimirovich Popov ¹

Affiliations
1 Central Research and Development Institute of Robotics and Cybernetics, Department 32, Saint Petersburg, RU

Abstract

Some tasks require accurate movement of loads when the vehicle acceleration transmitted to the load is limited and the load needs to be moved over a rough terrain. This problem may be solved either by improving the quality of the wheel suspension (by using a softer suspension), or by using a purely walking mechanism1. This paper suggests a new approach that combines wheeled and walking mechanisms. Walking algorithms are used for rough terrains, while traditional wheels are used for flat surfaces. Such approach for the wheeled and walking platform may be used for various purposes – from elimination of the consequences of accidents and disasters (transportation of the wounded persons) to exploration of natural resources10

Keywords

Algorithms, Robotics, Robot, Wheeled and Walking Platform

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Ivan Anatolievich Vasiliev ¹, Alexander Vladimirovich Popov ¹

Affiliations
1 Central Research and Development Institute of Robotics and Cybernetics, Department 32 Saint Petersburg, RU

Abstract

There are different kinematic schemes of wheeled mobile robots. This article presents full four - wheeled drive with two steer wheels. Specific algorithms of the mobile robot’s movements in field with barriers have been developed. All the algorithms have been implemented in practice and tested on a work-performing robot. Scientific novelty of the article consists in the usage of only one simple indicator of a working area. Besides, any sensor, including a contact one, can be used as such an indicator. The application of these algorithms is evident - they may be primarily used in control systems of self - driving cars.

Keywords

Algorithms, Robotics, Robot

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