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Trudy Inst. Mat. i Mekh. UrO RAN, 2010, Volume 16, Number 5, Pages 213–222 (Mi timm624)  

This article is cited in 17 scientific papers (total in 17 papers)

Mobile robots controlled by the motion of internal bodies

F. L. Chernousko, N. N. Bolotnik

A. Ishlinsky Institite for Problems in Mechanics, Russian Academy of Sciences

Abstract: Control problems for mobile robotic systems able to move in resistive media due to the motion of internal bodies that interact with the main body of the robot but do not interact with the medium are considered. The optimal periodic motions of the internal bodies that sustain a velocity-periodic motion of the main body relative to the medium and maximize the average speed are searched for. Three types of resistance to the motion of the robot's main body in the medium are considered: piecewise-linear friction, quadratic-law friction, and Coulomb's dry friction.

Keywords: systems with movable internal bodies, motion in resistive environment, optimal control, mobile robots.

Full text: PDF file (194 kB)
References: PDF file   HTML file
UDC: 517.977+519.63
Received: 24.02.2010

Citation: F. L. Chernousko, N. N. Bolotnik, “Mobile robots controlled by the motion of internal bodies”, Trudy Inst. Mat. i Mekh. UrO RAN, 16, no. 5, 2010, 213–222

Citation in format AMSBIB
\Bibitem{CheBol10}
\by F.~L.~Chernousko, N.~N.~Bolotnik
\paper Mobile robots controlled by the motion of internal bodies
\serial Trudy Inst. Mat. i Mekh. UrO RAN
\yr 2010
\vol 16
\issue 5
\pages 213--222
\mathnet{http://mi.mathnet.ru/timm624}
\elib{https://elibrary.ru/item.asp?id=15265848}


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    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles

    This publication is cited in the following articles:
    1. L. Yu. Volkova, S. F. Yatsun, “Upravlenie dvizheniem trekhmassovogo robota, peremeschayuschegosya v zhidkoi srede”, Nelineinaya dinam., 7:4 (2011), 845–857  mathnet
    2. Volkova L.Yu., Yatsun S.F., “Simulation of the Plane Controlled Motion of a Three-MASS Vibration System”, J. Comput. Syst. Sci. Int., 51:6 (2012), 859–878  crossref  mathscinet  zmath  isi  elib
    3. Yatsun S.F., Volkova L.Yu., “Modelirovanie dinamicheskikh rezhimov vibratsionnogo robota, peremeschayuschegosya po poverkhnosti s vyazkim soprotivleniem”, Spetstekhnika i svyaz, 2012, no. 3, 25–29  elib
    4. E. Vetchanin, I. S. Mamaev, V. A. Tenenev, “Dvizhenie tela s peremennoi geometriei mass v vyazkoi zhidkosti”, Nelineinaya dinam., 8:4 (2012), 815–836  mathnet
    5. Evgeny V. Vetchanin, Ivan S. Mamaev, Valentin A. Tenenev, “The Self-propulsion of a Body with Moving Internal Masses in a Viscous Fluid”, Regul. Chaotic Dyn., 18:1-2 (2013), 100–117  mathnet  crossref  mathscinet  zmath
    6. E. V. Vetchanin, V. A. Tenenev, A. S. Shaura, “Upravlenie dvizheniem zhestkogo tela v vyazkoi zhidkosti”, Kompyuternye issledovaniya i modelirovanie, 5:4 (2013), 659–675  mathnet  crossref
    7. E. V. Vetchanin, Yu. L. Karavaev, A. A. Kalinkin, A. V. Klekovkin, E. N. Pivovarova, “Model bezvintovogo podvodnogo robota”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 25:4 (2015), 544–553  mathnet  elib
    8. A. Yu. Maiorov, “O destabilizatsii polozheniya ravnovesiya, vyzvannoi lineinymi i kvadratichnymi silami vyazkogo treniya”, Zhurnal SVMO, 18:3 (2016), 49–60  mathnet  elib
    9. A. A. Kilin, A. I. Klenov, V. A. Tenenev, “Upravlenie dvizheniem tela s pomoschyu vnutrennikh mass v vyazkoi zhidkosti”, Kompyuternye issledovaniya i modelirovanie, 10:4 (2018), 445–460  mathnet  crossref
    10. Bardin B. S., Panev A. S., “On the Motion of a Body with a Moving Internal Mass on a Rough Horizontal Plane”, Nelin. Dinam., 14:4 (2018), 519–542  mathnet  crossref  elib
    11. Golitsyna M.V., “Periodic Regime of Motion of a Vibratory Robot Under a Control Constraint”, Mech. Sol., 53:1 (2018), 49–59  crossref  mathscinet  isi  scopus
    12. Golitsyna M.V., Samsonov V.A., “Estimating the Domain of Admissible Parameters of a Control System of a Vibratory Robot”, J. Comput. Syst. Sci. Int., 57:2 (2018), 255–272  crossref  mathscinet  zmath  isi  scopus
    13. Bilchenko G.G., International Conference Applied Mathematics, Computational Science and Mechanics: Current Problems, Journal of Physics Conference Series, 973, IOP Publishing Ltd, 2018  crossref  isi  scopus
    14. Bilchenko Sr. Grigory, Bilchenko Jr. Grigory, Bilchenko N., “On Motions of a Carrier With a Mobile Load Along a Rough Inclined Plane”, AIP Conference Proceedings, 1959, eds. Kustova E., Leonov G., Morosov N., Yushkov M., Mekhonoshina M., Amer Inst Physics, 2018, UNSP 030003  crossref  isi  scopus
    15. B. S. Bardin, A. S. Panev, “O postupatelnom pryamolineinom dvizhenii tvërdogo tela, nesuschego podvizhnuyu vnutrennyuyu massu”, Trudy Matematicheskogo instituta im. S.M. Nikolskogo RUDN, SMFN, 65, no. 4, Rossiiskii universitet druzhby narodov, M., 2019, 557–592  mathnet  crossref
    16. A. V. Klekovkin, “Modelirovanie dvizheniya bezvintovogo mobilnogo robota s neizmenyaemoi formoi obolochki upravlyaemogo s pomoschyu vrascheniya vnutrennego rotora”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 30:4 (2020), 645–656  mathnet  crossref
    17. Bilchenko G.G., Applied Mathematics, Computational Science and Mechanics: Current Problems, Journal of Physics Conference Series, 1479, IOP Publishing Ltd, 2020  crossref  isi  scopus
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