In the case of automated guided vehicles using odometry, a very important issue is to know the actual rolling radius of the wheel used to calculate the position of the vehicle. This radius is not constant. Its changes depend on the elastic deformation of the band layer and wheel slip. The theoretical determination of the value of the radius and the nature of the change is very difficult. For this reason, it was decided to determine the rolling radii by the experimental method. For this purpose, an appropriate test stand was built and the proposed research method was checked. Within the tests, there was also obtained a number of interesting results characterizing the material used to build bands and the ranges of changes rolling radii for the tested material were specified.

中文翻译：

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自动引导车辆的车轮半径测量

在使用里程计的自动引导车辆的情况下，一个非常重要的问题是了解用于计算车辆位置的车轮的实际滚动半径。该半径不是恒定的。其变化取决于带束层的弹性变形和车轮打滑。从理论上确定半径值和变化的性质非常困难。因此，决定通过实验方法确定滚动半径。为此，建立了合适的试验台并检查了所提出的研究方法。在测试中，还获得了许多有趣的结果，表征了用于构建乐队的材料，并指定了测试材料的滚动半径变化范围。