M.E. Botov1, I.V. Pakhomov2, I.V. Gurin3, N.S. Kucheryavykh4, E.O. Garanin5

1-5 Don State Technical University (Rostov-on-Don, Russia)

1 GurinIV86@yandex.ru; 2 kucheryavyh.n@gs.donstu.ru; 3 vbif.27@yandex.ru; 4 ipahomov@donstu.ru, 5 egaranin@donstu.ru

Modern robotic mobile platforms with the 4WIS8WID configuration face the problem of accurate positioning due to kinematic mode l errors and wheel slippage, especially on difficult terrain. Exi sting management methods are insufficient to accurately follow the trajectory, which limits their use in agriculture. To solve the pr oblem, it is necessary to develop an integrated navigation syst em and adaptive control algorithms that compensate for slippage and orientation errors.

Botov M.E., Pakhomov I.V., Gurin I.V., Kucheryavykh N.S., Garanin E.O. Mathematical modeling of motion kinematics of a mobile agricultural platform according to the 4WIS8WID scheme. Science I ntensive Technologies. 2026. V. 27. № 2. P. 49−58. DOI: https://doi.org/ 10.18127/j19998465-202602-05 (in Russian)

1. Markina A.A., Chepkasov S.N., Berezhnaya M.A. Issledovanie kinematiki polnoupravlyaemogo legkovogo avtomobil ya. Vestnik SibADI. 2019. №5 (69). URL: https://cyberleninka.ru/article/n/issledova nie-kinematiki-polnoupravlyaemogo-legkovogo-avtomobilya (data obrashcheniya: 22.12.2025) (in Russian).
2. Chen Zhiqiang, Krasnov A.Yu., Liao Duzhesheng, Yang Qiusheng. Dynamic surfacecontrol for omnidirectional mobile robot with f ull stateconstrains and inputsaturation. Nauchno-tekhnicheskij ve stnik informacionnyh tekhnologij, mekhaniki ioptiki. 2023. № 6. URL: https://cyberleninka.ru/article/n/dynamic-surface-control-for-omnidirectional-mobile-robot-with-full-state-constrains-and-inputsaturation (data obrashcheniya: 22.12.2025).
3. Semynin M.V., Kostenko M.Yu. Analiz aktual'nyh metodovpovysheniya nadezhnosti rulevogoupravleniya sel'skohozyajstvennogo transporta pri peredvizhenii po deformiruemomu gruntu. Vestnik VGUIT. 2023. № 3. URL: https://cyberleninka.ru/article/n/analizaktualnyh-metodov-povysheniya-nadezhnosti-rulevogo-upravleniya-selskohozyaystvennogo-transporta-pri-peredvizhenii-po (data obrashcheniya: 22.12.2025) (in Russian).
4. Karavaev Yu.L., Trefilov S.A. Diskretnyj algoritmupravleniya po otkloneniyu mobil'nym roboto msomnikolesami. Rus. J. Nonlin. Dyn., RJND. 2013. № 1. URL: https://cyberleninka.ru/article/n/diskret nyy-algoritm-upravleniya-po-otkloneniyu-mobilnym-robotom-somnikolesami (data obrashcheniya: 22.12.2025) (in Russian).
5. Afonin A.N., Alejnikov A.Yu., Bondareva E.N. Uproshchennyj raschetkinematiki dvizheniya mobil'nogorobota stremyaomnikolesami. Prikladnaya matematika & Fizik a. 2014. № 19 (190). URL: https:/ /cyberleninka.ru/article/n/uproschennyy-raschet-kinematikidvizheniya-mobilnogo-robota-s-tremya-omnikolesami (data obrashcheniya: 23.12.2025) (in Russian).
6. Semynin M.V., Kostenko M.Yu. Analiz aktual'nyh metodovpovysheniya nadezhnosti rulevogoupravleniya sel'skohozyajstvennogo transporta pri peredvizhenii po deformiruemomu gruntu. Vestnik VGUIT. 2023. № 3. URL: https://cyberleninka.ru/article/n/analizaktualnyh-metodov-povysheniya-nadezhnosti-rulevogo-upravleniya-selskohozyaystvennogo-transporta-pri-peredvizhenii-po (data obrashcheniya: 22.12.2025) (in Russian).
7. NagoevZ. V., ZagazezhevaO. Z., BzhihatlovK. C h., MambetovI. A. Razrabotka intellektual'noj rob ototekhnicheskoj sistemy sboraurozhaya. Izv. YuFU. Seriya: T ekhnicheskie nauki. 2025. №2 (244). URL: https://cyberleninka.ru/article/n/razrabotka-intellektu alnoyrobototehnicheskoy-sistemy-sbora-urozhaya (data obrashcheniya: 23.12.2025) (in Russian).
8. Antonov M.A., Anisimov A.A., Kashiro S.E. Ob avtomatizacii sel'skogohozyajstva. Izv. TulGU. Tekhnicheski enauki. 2022. № 9. URL: https://cyberleninka.ru/article/n/ob-avtomatizatsii-selskogo-hozyaystva (data obrashcheniya: 23.12.2025) (in Russian).
9. Vasil'ev A.V. Principy postroeniya iklassifikaciya shassimobil'nyh robotovnazemnogo primeneniya iplanetohodov. Informatika, telekommunikacii iupravlenie. 2013. № 1 (164). URL: https://cyberleninka.ru/article/n/printsipy-postroeniya-i-klassifikatsiya-shassimobilnyh-robotov-nazemnogo-primeneniya-i-planetohodov (data obrashcheniya: 23.12.2025) (in Russian). 1
10. Gurjeet S., Naresh K., Neetu Ya., Ashwani Sh., Manoj S. Smart agriculture: a review. Siberian Journal of Life Sciences and Agriculture. 2022. № 6. URL: https://cyberleninka.ru/article/n/smart-agriculture-a-review (data obrashcheniya: 23.12.2025). 1
11. Zakovorotnyj V.L., Gvindzhiliya V.E., Kislov K.V. Informacionnye svojstvachastotnyh harakteristik dinamicheskoj sistemyrezaniya pri diagnostike iznosa instrumentov. Obrabotka metallov (tekhnologi ya, oborudovanie, instrumenty). 2024. T. 26. № 3. S. 114–134. D OI 10.17212/1994-6309-2024-26.3-114-134 (in Russian). 1
12. Miroshnichenko V.G. Issledovanie tekhnologicheskih processov obrabotki metallov rez aniem kak ob"ektovupravleniya: uchebnoeposobie; M-vo obrazovaniya inauk i Rossijskoj Federacii, Federa l'noe gos. byudzhetnoe obrazovatel'noe uchrezhdenie vyssh. prof. obrazovaniya «Donskoj gos. tekhnicheskij un-t». Rostov-na-Donu: DGTU. 2011. 140 s. ISBN 978-5-7890-0676-4 (in Russian). Mathematical modeling of the motionkinematics of amobileagricultural platformaccording to the 4WIS8WID scheme Science Intensive Technologies / Naukoemkie tekhnologii, v. 27, № 2, 2026, p. 49−58 58 1
13. Butenko V.I., Lebedev V.A., Koval' N.S. i d r. Nerazrushayushchijkontr ol' itekhnicheskaya diagnostika kachestvaizdelijmashi nostroitel'nyh proizvodstv: Uche b. posobie; Ministerstvo naukiivysshego obrazovaniya Rossijskoj Federacii, Donskoj gosudarst vennyj tekhnicheskij universitet. Rostov-na-Donu: Donskoj gosudarstven nyj tekhnicheskij universitet, 2020. 264 s. ISBN 978-5-7890-172 3-4 (in Russian). 1
14. Zakovorotnyj V.L., Gvindzhiliya V.E. Izuchenie otobrazheniya vibracionnyh vozmushchenij vgeometrii formiruemoj rezaniem poverhnosti pri tochenii. Obrabotka metallov (tekhnologiya, oborudovanie, instrumenty). 2024. T. 26. № 2. S. 107– 1 2
15. DOI 10.17212/1994-6309-2024-26.2-107-126 (in Russian). 1
16. Antipas I.R. Modelirovanie dinamicheskih nagruzok, vozdejstvuyushchih na mo stovojkran vo vremyazapuska. Peredovye inzhenernye issledovaniya (Rostov-na-Donu). 2024. № 24(2). S. 190–197. https://doi.org/10.23947/2687-1653-2024-24-2-190-197 (in Russian). 1
17. Sobol' B.V., Solov'ev A.N., Vasil'ev P.V., Lyapin A.A. Modelirovanie processov ul'trazvukovogo defektoskopirovaniya vzadachepoiska ivizualizacii vnutrennih defektovvuzlah ikonstrukciyah. Pered ovyeinzhenernye issledovaniya (Rostov-na-Donu). 2023. № 23(4). S. 433–450. https://doi.org/10.23947/2687-1653-2023-23-4-433-450 (in Russian).