Nikulin  Artem Anatolyevich, Bychkov  Dmitriy Sergeevich, Generalova  Alexandra Alexandrovna, 
    Development of Mathematical Model of Ground Unmanned Vehicle Movement,
    Journal of Engineering and Applied Sciences,
    Volume 15,Issue 2,
    2020,
    Pages 618-625,
    ISSN 1816-949x,
    jeasci.2020.618.625,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2020.618.625)
    Abstract: The study proposes a mathematical model of the Ground Unmanned Vehicle (GUV) which allows
to determine the trajectory in two-dimensional coordinates and orientation angles of the unmanned vehicle. The
moment reachability set for a third-order nonlinear controlled system, often called the "Dubins machine" is
investigated. The object moves on a plane with a constant linear velocity and asymmetrically specified
restrictions on turns to the right and to the left. The statement about the number and nature of control switches
leading to the boundary of the reachability set is proved.
    Keywords: Unmanned vehicle;dubins machine;the trajectory;the angles of rotation of the wheels;optimize
for speed;asymmetrically