Modelling and Experimental Verification of High-Speed Small-Sized Transport (Locomotion) System for Mobile Robot

The paper is devoted to mobile mini-robots (MMRs) – small-sized unmanned ground vehicles of a portable type, the characteristic dimensions of which are measured by several tens of centimeters, and the weight does not exceed 15 kg. The features of transport (locomotion) systems of such small-sized robots are studied from the point of view of approaches to their mathematical description. A computer model of the MMR transport system has been developed in two versions of the chassis configurations: tracked and wheeled. The results of experimental studies and comparison of the obtained experimental and simulated data are presented. The revealed features of the MMR transport systems and proposed method for their computer models development, considering these features, make it possible to increase the accuracy and adequacy of the MMR motion simulation in comparison with the known approaches, used in the computation of larger vehicles.