Corresponding author: Ermolov Ivan L., Dr. Sc., Professor RAS, Leading Researcher, Laboratory of Robotics and Mechatronics, Institute for Problems in Mechanics of the Russian Academy of Sciences, Moscow, 119526, Russian Federation, e-mail: ermolov@ipmnet.ru

Accepted on September 05, 2017

This paper presents results of research of force interaction with various soil surfaces for a loaded UGV and for a group of UGVs. To ensure the reliable motion of a loaded wheel-based UGVover soil or the movement of two or more robots carrying a common cargo it is essential to analyze forces acting on the robot's wheel from the ground. The interaction with the soil of a robot with a hinged load was considered through the wheel system as the interaction of a loaded wheel with a soil. The peculiarities of the motion of a loaded UGV in the previously performed studies of automobile design field were taken into account. Basing on the analysis of different approaches to understand the nature of forces acting on the loaded mobile robot, the choice of forces was considered. The force of the wheel-ground cohesion is considered to be a physical force. The components of this force are projections on the coordinate axes. Motion of the robot is caused only by external applied forces. System of forces includes traction, weight, rolling friction, sliding friction, grip of the wheel with the ground, external forces. Because of unknown terrain along which moves the loaded robot, it is also necessary to include an additional unit in the control system, providing compensation of the initial torque to the initial position of the cargo regarding the robot's hull. Results of force interaction simulation of a loaded robot with various types of soil are presented.
Keywords: loaded mobile robot, soil, terrain, force interaction, force system, features of motion, slippage

Acknowledgements: This work was supported by the Russian Foundation for Basic Research, project no. 16-29-04199 ofr_i.