TY  - JOUR
T1  - Development of Mathematical Model of Ground Unmanned Vehicle Movement
AU - Artem Anatolyevich, Nikulin AU - Dmitriy Sergeevich, Bychkov AU - Alexandra Alexandrovna, Generalova 
JO  - Journal of Engineering and Applied Sciences
VL  - 15
IS  - 2
SP  - 618
EP  - 625
PY  - 2020
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2020.618.625
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2020.618.625
KW  - Unmanned vehicle
KW  -dubins machine
KW  -the trajectory
KW  -the angles of rotation of the wheels
KW  -optimize
for speed
KW  -asymmetrically
AB  - The study proposes a mathematical model of the Ground Unmanned Vehicle (GUV) which allows
to determine the trajectory in two-dimensional coordinates and orientation angles of the unmanned vehicle. The
moment reachability set for a third-order nonlinear controlled system, often called the "Dubins machine" is
investigated. The object moves on a plane with a constant linear velocity and asymmetrically specified
restrictions on turns to the right and to the left. The statement about the number and nature of control switches
leading to the boundary of the reachability set is proved.
ER  -