Ground Uniaxial Wheeled Modules for Transportation and Angular Orientation Control of Enviromental Monitoring Equipment

摘要

The structure and principles of constructing a complex of on-board systems of a uniaxial wheel module with a controlled platform which has two-degree-of-freedom relative to the axis of the wheelset and serves as a carrier for monitoring equipment are proposed. A mathematical model of the module motion on a non-horizontal underlying surface is presented. Algorithms for its onboard systems have been developed - the platform orientation control system, the navigation system and the trajectory control system. These systems are combined into a single complex by information links, which are realized based on usage of the rolling factor of the wheels on the underlying surface and considering their possible slippage relative to it. The results of the experimental studies are presented.