This article is cited in 7 papers

Control the moving objects and navigation

Multi-wheeled mobile robot model and dynamic assessment of controllability and operational comfort

A. P. Aliseichik^a, V. E. Pavlovskii<sup>b

a</sup> Russian State University for the Humanities, Moscow
^b M. V. Keldysh Institute for Applied Mathematics, Russian Academy of Sciences, Moscow

Abstract: The paper examines the controllability and dynamics of the six-wheel mobile robot, designed for high-speed driving on rough surfaces, and its control synthesis. The analysis of the dependence of movements comfort on various characteristics of the suspension has also been conducted. Six-wheel robot dynamics model, based on the software package «Universal Mechanism» is investigated.

UDC: 531.1

 English version: Control Sciences, 2015, 76:4, 675–688

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