Abstract—

The problem of effectively controlling the traction of an all-wheel drive wheeled robot after its sharp turn caused by the sudden appearance of an extended obstacle in the robot path has been solved. It is assumed that, in the course of steering, the robot body is parallel to the obstacle and its front wheels are aligned. The task is to ensure acceleration along the obstacle, while avoiding a side collision with it. The solution is based on the linear tangent law adapted to phase restrictions. On a finite time interval, the speed of wheel rotation is obtained in the course of lateral motion in the drift mode and the subsequent acceleration on the verge of slipping along a straight line that is as close as possible to the boundary of the obstacle. The corresponding trajectory is also shown. The dependence of the longitudinal speed developed at the end of the maneuver on the initial distance to the obstacle and the maneuver time is studied. The left-side limits of the wheel angular acceleration and the power at the end of the sliding segment are determined. The found trajectory is compared with some other trajectories consisting of a curved and a straight segment. Numerical calculations show that the former trajectory is more effective.

中文翻译：

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考虑移动机器人强加速过程中的相位限制及其漂移模式运动

摘要-

解决了全轮驱动轮式机器人因路径中突然出现延伸障碍物而急转弯后牵引力的有效控制问题。假设在转向过程中机器人本体与障碍物平行且前轮对齐。任务是确保沿着障碍物加速，同时避免与其发生侧面碰撞。该解决方案基于适应相位限制的线性正切定律。在有限的时间间隔内，获得漂移模式下横向运动过程中车轮旋转的速度以及随后沿尽可能靠近障碍物边界的直线滑行边缘的加速度。还显示了相应的轨迹。研究了机动结束时产生的纵向速度对距障碍物的初始距离和机动时间的依赖性。确定车轮角加速度的左侧极限和滑动段末端的功率。将找到的轨迹与由曲线段和直线段组成的一些其他轨迹进行比较。数值计算表明，前一种轨迹更为有效。