A Study of the Stability Characteristics of the Intelligent Robotic Vehicle Movement

Abstract

Unmanned vehicles have been developed at a rapid pace worldwide. However, despite the significant sophistication of these technologies, there arises a broad list of problems related to the IRV (intelligent robotic vehicle) movement. One of the most important problems is to ensure the stability characteristics of the IRV movement. To this end, we developed a methodology for calculating the angular parameters, the radius of the trajectory curvature, and the coordinates of the IRV position during its movement. We created a 3-D model of the IRV, which allowed us to provide the most complete insight into its movement, placement of new sensors, monitoring, and calibration. The experimental studies have shown that the minimum deviation of the trajectory is observed at the IRV movement speed of 7 km/h.