Accounting for phase limitations during intense acceleration of a mobile robot and its' motion in drift mode

The problem of effectively controlling the traction of an all-wheel drive wheeled robot after a sharp turn due to the sudden appearance of a long obstacle on the way has been solved. It is assumed that during steering the body is parallel to the obstacle and the front wheels are aligned. It is required to ensure acceleration along the obstacle and at the same time avoid a side collision with it. The solution is based on the so-called linear tangent law, adapted to consider phase restrictions. At a finite time interval, the speed of wheel rotation was obtained during lateral movement in drift mode and subsequent acceleration on the verge of slipping along a straight line, which is as close as possible to the boundary of the obstacle. The corresponding trajectory is also shown. The dependence of the longitudinal speed developed at the end of the maneuver on the initial distance to the obstacle and the time of the maneuver was studied. The left-side limits of wheel angular acceleration and power at the end of the sliding section are determined. The found trajectory is compared with some other trajectories consisting of a curved and straight section. As a result of numerical calculations, it is shown that it is more effective.