On Determining the Optimal Lifting Law of the Walking Propulsion Device Foot of an Underwater Robot from the Bottom

Eugene S. Briskin; Yaroslav V. Kalinin; Liliya D. Smirnaya

doi:10.37965/jait.2021.0012

On Determining the Optimal Lifting Law of the Walking Propulsion Device Foot of an Underwater Robot from the Bottom

Authors

Eugene S. Briskin Department of Theoretical Mechanics, Volgograd State Technical University, Russia Federation https://orcid.org/0000-0002-6409-4208
Yaroslav V. Kalinin Department of Theoretical Mechanics, Volgograd State Technical University, Russia Federation
Liliya D. Smirnaya Department of Theoretical Mechanics, Volgograd State Technical University, Russia Federation

DOI:

https://doi.org/10.37965/jait.2021.0012

Keywords:

walking propulsion device, underwater walking robot, pulling force, the force of resistance to motion, optimal control

Abstract

The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered, taking into account the additional “compression” force acting on it. A mathematical model has been developed for the detachment of a propulsion foot from the ground, based on Henry’s laws establishing the concentration of dissolved air in a liquid, the law of gas expansion at a constant temperature, Darcy’s law on fluid filtration, and the theorem on the motion of the center of mass of a solid body. The linearized model allows to obtain and analytical solutions. Based on the solution of the variational problem, optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.