D.S. Ivanov

This article describes the motion of MP indoors with complex geometry. Management features such MR is the need to follow the desired path MP, as he moves into the room with complex geometry and in this room are working other robots. Therefore, gathering MP with a given path may lead either to a collision with another MP, or it can rest against the wall. We consider the trajectory of MP as being composed of linear segments and arcs of circles and describe the motion equations. Just consider the appearance of the gyroscopic forces and allows for adjustment of the movement.