Simulation Method for the Transport System of a Small-Sized Reconfigurable Mobile Robot

This study focuses on the features of transport (locomotion) systems of mobile mini-robots (MMR), i.e., small unmanned ground vehicles of a portable type measuring several tens of centimeters and weighing no more than 15 kg. A distinctive feature of the considered MMR is the possibility of its both structural reconfiguration (i.e., the ability to function in two options—tracked and wheeled) and geometric reconfiguration in the tracked option (i.e., chassis geometry variation). Thus, the transport system of such a mobile robot is divided into two components: a locomotion subsystem and a chassis geometry variation subsystem. The article examines the factors that are necessary for the correct mathematical description of such a small-sized and relatively high-speed transport system. A method for constructing a computer model of the transport system as an electromechanical device only is proposed. Such a computer model of the MMR transport system is developed for two types of chassis configurations: tracked and wheeled. The experimental studies performed and the comparison of the experimental and simulated data obtained showed their close convergence, within 5 to 7%. Thus, it is shown that the revealed features of the MMR transport systems along with the proposed method for their computer model development considering these features make it possible to increase the accuracy and adequacy of the MMR motion simulation in comparison with previously known approaches used in the computation of larger vehicles. The results obtained make it possible to consider the proposed computer model of the transport system as an electromechanical component of the complete model of a mobile robot.