Crossing a small body of water by an insectomorphic robot on a raft

Abstract

A mathematical model of the action of water on a raft in the case of nonstationary motion is developed. In the linear approximation, the dynamics and stability of the raft motion in the case of a shifted constant load and disturbed initial data are investigated. The motion enabling the robot to cross a body of water in the simple case when the robot imparts an initial push from the shore to the raft is designed. The proposed algorithm was worked out using computer simulation. Given sufficient data about the robot’s motion, numerical results proving the validity of the algorithm are presented.