Application of a group of ground-based robotic means as a modular means of evacuation of equipment

A. Vorobyov, V. Sergeyev, Askar Smailov
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Abstract

The possibilities of improving the means of evacuation of general and special purpose vehicles on a wheeled and tracked platform have reached technological limits. The prospects for further development of evacuation facilities are associated with their construction on a modular principle. A group of ground-based robotic means, generally heterogeneous, can be used as evacuation vehicle modules. In relation to a group of homogeneous robotic means, a method has been developed for calculating the required number of them to achieve the necessary trac-tion force, taking into account the significant variability of possible physical-geographical and road-ground condi-tions. The obtained results of mathematical modeling allow us to conclude about the high efficiency of the use of modular means of evacuation of equipment.
应用一组地面机器人作为设备撤离的模块化手段
在轮式和履带式平台上改进通用和专用车辆疏散手段的可能性已达到技术极限。疏散设施的进一步发展前景与按模块化原则建造有关。一组地面机器人装置(通常是异质的)可用作撤离车辆模块。对于一组同质的机器人,考虑到可能出现的物理地理和道路地面条件的巨大差异,已经开发出一种方法,用于计算达到必要的追踪力所需的机器人数量。根据数学建模的结果,我们可以得出结论,使用模块化的设备撤离工具效率很高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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