The article discusses a ground-based wheeled robot (GWR), designed to operate at airfields, in particular at aircraft parking lots for the purpose of patrolling or photographing the lower part of the aircraft. The purpose of the article is to find a way to increase the accuracy of the navigation system for a ground wheeled robot used in aircraft parking. All initial and final calculations were performed in the navigation coordinate system (CS). Also, the starting CS (SCS) and CS associated with the GWR were used. A trajectory of detouring the aircraft landing gear racks was obtained, at which the influence of aircraft position errors at the airfield parking and scanning laser range finder (LIDAR) measurement errors on the accuracy of determining the location coordinates of the aircraft and GWR can be minimized. The influence of linear and angular errors of the aircraft position on the value of the error in determining the location of the GWR was studied. A correction structure was developed based on Kalman filter of GWR navigation system according to the calculated coordinates. The results of modeling the operation of integrated navigation system with the proposed correction channel were demonstrated, which have shown the effectiveness of the proposed correction method. Based on the analysis of the indicated GWR navigation systems, it can be concluded that the features of the use of additional sensors are determined by the purpose of GWR and, accordingly, the trajectory of its movement. The proposed correction algorithm for the navigation system based on LIDAR measurements based on the initial research is an adequate and effective alternative to using GPS in limited conditions.

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A complex navigation system for a uniaxial wheeled robot with a two degrees of freedom rotating platform, which is a carrier of environmental monitoring equipment, is proposed. The navigation system includes an odometric subsystem, a block of inertial sensors, laser altimeters, and a receiver of the global navigation satellite system. Integration is carried out based on the use of the Kalman filter, taking into account the possibility of deformation of the wheels and their slippage when the robot moves relative to the non-horizontal underlying surface. The results of semi-natural modeling confirmed the effectiveness of the decisions made.

This article is dedicated to the development of the uniaxial two-wheel robot (UTR) constructed as the upper pendulum. This robot is intended to be used as a simple and inexpensive model for robotic engineering laboratory classes. Such robot can be used for educational purposes in higher education institutions, as well as in robotic engineering courses in schools and supplementary education institutions. Experimental UTR unit and its general specifications have been developed. The article describes the synthesis of UTR’s simplified mathematical model, control system and hardware composition. It is proven that the simplified equations are correct. In addition, it presents the algorithms of driving engines torque formation based on measurements of sensors with various physical nature and different filtration methods. Possible data merging variants’ diagram is presented. In the process of the half-full scale modelling, the researching of robot movements was conducted simultaneously with the recording of primary information from all measuring systems. As a defined motion, the stabilisation concerning the horizon from the position when the rotation angle of a platform was 40 degrees has been chosen. It has been determining that the robot's engines can enhance torque ranging from 0.05 to 0.22 Nm. The combination of the described mathematical model, control algorithms and specific features of certain structural components ensure the efficiency of UTR application in the educational process. Several UTR control system variants are described, and the simulation results are presented. The article also includes the results of hardware simulation.