Four-Wheel Drive Vehicle Optimum Control with a Partial Failure It’s Drives

The article is devoted to the development of a system for optimal planning of the trajectory of the movement of construction machines, taking into account the deterioration of the technical condition of their drives. A fuzzy model for optimizing the movement of a vehicle takes into account the technical condition and the load on the driving wheels. The model allows, based on the results of the assessment of the technical condition and load, to select the required operating mode for each drive: four-wheel drive; front-wheel drive; rear-wheel drive; termination of operation. To continue operation in the selected mode, the criteria for the optimal trajectory of the vehicle are formulated, taking into account the length of the trajectory, the number of right and left turns and the technical condition of the drives. Three analytical solutions of the optimization problem are given. Possible trajectories of movement are built and the number of turns of the car is calculated. The same problem was solved using genetic and ant colony algorithms for the same input data. A comparative analysis of the obtained results was carried out.