Control of Mobile Robots with Load-Bearing Supports Discretely Interacting with the Supporting Surface

Abstract

A schematic of a two-section mobile robot of the «robo-train» type is presented. The robot is equipped with braking supports that interact discretely with a flat surface and with a linear actuator. Its motion is achieved by extending or retracting the rod of the linear actuator: one section remains stationary due to the interaction of all its deployed supports with the supporting surface, while the other section is in a free state and performs rotational motion about a vertical axis passing through a single fixed support. The motion principle of the two-section robot is based on the alternation of fixation and displacement phases of the sections. This enables the «robo-train» to follow a prescribed trajectory with minor deviations and to achieve high maneuverability. It is established that the motion pattern is determined by the geometric parameters of the system, the operating modes of the linear actuator, and the control algorithm governing the interaction of the deployable braking supports with the supporting surface. To evaluate the motion performance of the «robo-train», the concept of «dimensional passability» is introduced, which refers to the robot’s ability to move within narrow curvilinear regions bounded by rigid walls. The design and operating principle of a mobile robot with deployable supports and a rotating internal body are also considered; such a robot can be incorporated into the «robo-train» as a leading section. Basic motion trajectories of this robot are presented, the combination of which enables motion in various directions and allows different operating modes of the two-section robot to be realized.