@inproceedings{0071191a210c492991db2bd7998c99e2,
title = "The basic factors on development of the drive control subsystem for the special purpose mobile robot named geokhod",
abstract = "The paper is devoted to showing up the control aspects of the geokhod that is the new type of tunneling machine. Geokhod may be classified as a special purpose mobile robot. The authors set the following targets: To analyze the main operating modes of the machine; to enunciate the applicable approach to form the dynamic mathematical models of mechanical and hydraulic subsystems of the geokhod in these operating modes. In the paper, the kinematic schemes of the geokhod main systems are depicted following which the interaction model of the geokhod and geo-environment is briefly described and thereafter the modeling features of the geokhod dynamics from the control view are listed. The computational kinematic scheme of the geokhod is composed and it is discussed how this scheme can be used for compiling the dynamic mathematical model in the different operating modes. In the final part, the weaknesses analysis of the proposed approach are presented and the directions for further researches are formulated.",
keywords = "Drive control, Dynamic mathematical model, Geo-environment, Geokhod, Kinematic scheme",
author = "Grigoryev, {Aleksandr V.} and Semykina, {Irina Yu} and Ermakov, {Aleksandr N.} and Chicherin, {Ivan V.} and Aksenov, {Vladimir V.}",
year = "2018",
month = aug
day = "13",
doi = "10.1109/EDM.2018.8435072",
language = "English",
isbn = "9781538650219",
series = "International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM",
publisher = "IEEE Computer Society",
pages = "667--671",
booktitle = "2018 19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 - Proceedings",
address = "United States",
note = "19th International Conference of Young Specialists on Micro/Nanotechnologies and Electron Devices, EDM 2018 ; Conference date: 29-06-2018 Through 03-07-2018",
}