Algorithm for controlling a spherical robot with a pendulum actuator in the problem of pursuing and hitting a moving target

An algorithm is developed to control a spherical robot with a pendulum actuator through servoconstraints, generating the necessary control torque. Servoconstraints set a movement program that allows the robot to pursue a moving target until it is hit. The rectilinear and curvilinear trajectories of the robot, constructed on the basis of numerical integration, are considered, their length and time to hit the target are determined. Keywords:spherical robot, pendulum actuator, control, pursuit, hit, nonholonomic constraint, servoconstraint evaeva_84@mail.ru