Water body crossing by a six-legged robot on a raft with a cargo

Motion of the robot is formed with the aim the crossing with a cargo from one side onto the other side of the water body in the simplest case, when the robot initially pushes the raft from the shore. The proposed control algorithm provides for the transfer of a cargo from a shore to the raft, transporting cargo on a moving raft and transfer of the cargo from the raft to the other shore. The algorithm was worked out by means of computer simulation. The results of calculations show the performance of the algorithm in the presence of motion information, adequate for management purposes.