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Substantiation of the trajectory planning algorithm for unmanned tracked vehicle

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dc.contributor.author Derzhansky V. B. en
dc.contributor.author Taratorkin I. A. en
dc.contributor.author Yakovlev A. G. en
dc.contributor.other Держанский Виктор Борисович
dc.contributor.other Тараторкин Игорь Александрович
dc.contributor.other Яковлев А. Г.
dc.date.accessioned 2020-02-14T03:51:32Z
dc.date.available 2020-02-14T03:51:32Z
dc.date.issued 2020
dc.identifier.issn 17578981
dc.identifier.other DOI: 10.1088/1757-899X/709/2/022088
dc.identifier.uri http://hdl.handle.net/123456789/5390
dc.identifier.uri https://www.scopus.com/record/display.uri?eid=2-s2.0-85078896646&origin=resultslist&sort=plf-f&src=s&st1=Kurgan+state+University&st2=&sid=eae38d583ef90fd2474095b2d1d45e96&sot=b&sdt=b&sl=33&s=AFFILORG%28Kurgan+state+University%29&relpos=2&citeCnt=0&searchTerm=
dc.identifier.uri https://iopscience.iop.org/article/10.1088/1757-899X/709/2/022088
dc.description Derzhansky V. B., Taratorkin I. A., Yakovlev A. G. IOP Conference Series: Materials Science and Engineering. 2020. Vol. 709, article № 022088. en
dc.description.abstract Mobility operation of an unmanned transport vehicle (UTV) when operating on rough terrain is a difficult task. The most difficult is the problem of the tracked UTV motion. Simplification of the controlled motion simulation, ambiguity of the track-terrain interaction parameters, the random nature of external impacts lead to fuzziness of the status parameters of the UTV as a controlled object. The article proposes a method for trajectory planning of the UTV motion, taking into account the nonholonomic nature of the track-terrain interaction. Within this objective, three aspects of the research stand out sharply. First, refinement of the tracked vehicle mathematical model. Secondly, the Voronoi diagram method is the basis of the algorithm for motion trajectory planning. Thirdly, the parameters of interaction with the external environment, in particular, the dependences of the coefficient of resistance to side slip, being obtained in real time, allow us to synthesize a correcting matrix that provides for increased motion stability. The effectiveness of the proposed approach is planned to be assessed by UTV controlled motion simulation and during experimental investigations. © Published under licence by IOP Publishing Ltd. en
dc.language.iso en en
dc.publisher Institute of Physics Publishing en
dc.rights Open Access en
dc.title Substantiation of the trajectory planning algorithm for unmanned tracked vehicle en
dc.type Article en
dc.description.department Kurgan State University, Kurgan, 640020, Russian Federation en
dc.description.department Institute of Engineering Science UB RAS, Ekaterinburg, Russian Federation en

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