Synthesis of optimal program law for movement of a robot with orthogonal walking drives

The motion of a mobile robot with orthogonal walking drives is considered. The problem of reducing power consumption of drive motors for overcoming the forces of linear viscous resistance and nonlinear forces of dry friction in the case of straight motion of the robot is considered. Methods of variational calculus are used to determine the optimal program law of motion from the condition of minimum thermal losses of drive electric motors.