Transport group control system of unmanned ground vehicles for various soils

摘要

Approach for solving of transport task for group of one-type wheeled robots’ moving by surfaces with various adhe-sive characteristics was suggested. The algorithm for the motion of a group of robots carrying an object with a given configuration along a given trajectory was formulated. Calculations of needed speeds and accelerations of robots moving in a group and carrying a massive object are given. On the basis of presented calculation method the algorithm was successfully tested in previously developed special software for modeling and debugging.