Technical Support for Adaptive-Wheel Movers Simulation in Mobile Robotic Off-Road Capability Systems

The paper suggests a developed model of adaptive-wheel mover for mobile robotic complex with the aim of increasing mobility and patency. Simulation tests were carried out and the operability of the constructed model was confirmed. The algorithm and software which has been tested on the assembled microprocessor module with the element forming the wheel frame has been developed. As a result, the program provides data about the presence of an obstacle and the possibility of overcoming it and generates a control signal for the power body to change the geometric characteristics of the mover.