Controlled Maneuverability of an Articulated Tracked Mobile Robot

2010 ◽  
Author(s):  
Patrick Labenda ◽  
Tim Sadek ◽  
Thomas Predki
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Articulated Vehicles ◽  
Unstructured Environment ◽  
Translational Degree ◽  
Feedback Control Strategy ◽  
The Individual ◽  
Tracked Mobile Robot

Considerable potentials with regard to mobility in unstructured environment offer actively articulated mobile robots equipped with powered wheels or tracks. These potentials are obvious when dealing with a system’s trafficability and terrainability. However, maneuverability and steerability of articulated mobile robots are challenging. This is due to the fact that these robots represent a form of truck-trailer systems leading to interactions and influences between the individual vehicles resulting in significant problems like e.g. off-tracking with regard to a given path. Further on, when dealing with a mobile robot’s maneuverability there are only few scientific contributions covering articulated vehicles with actively powered trailers using tracks as propulsive elements. The described systems differ significantly with regard to their configuration with respect to the multi-redundant mobile robot in this work. To investigate the maneuverability of articulated tracked mobile robots a demonstrator has been developed. It is built up out of three identical modules which are connected with each other in a rowby means of a rotational and a translational degree-of-freedom. Each module has two tracks which can be powered independently. Overall, the system has got ten degrees-of-freedom whereas six of them are active and four passive. The developed demonstrator has been used for investigations dealing with maneuverability and steerability as well as modularization of the system’s control architecture. The paper summarizes the development of the mobile robot, its feedback control strategy as well as the tests carried out. The achieved results show a satisfying performance with regard to the implemented control strategy and the system’s maneuverability.

scholarly journals Control Strategy for the Pseudo-Driven Wheels of Multi-Wheeled Mobile Robots Based on Dissociation by Degrees-of-Freedom

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 155477-155491
Author(s):  
Huanan Qi ◽  
Bo You ◽  
Liang Ding ◽  
Wenhao Lian ◽  
Ye Yuan ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robots

HOLONOMIC AND OMNIDIRECTIONAL LOCOMOTION SYSTEMS FOR WHEELED MOBILE ROBOTS: A REVIEW

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
M. Juhairi Aziz Safar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robot ◽  
Arbitrary Direction ◽  
Current Position ◽  
Wheeled Mobile Robots ◽  
Future Improvement ◽  
Position And Orientation ◽  
Three Degrees Of Freedom

Holonomic and omnidirectional locomotion systems are best known for their capability to maneuver at any arbitrary direction regardless of their current position and orientation with a three degrees of freedom mobility. This paper summarizes the advancement of holonomic and omnidirectional locomotion systems for wheeled mobile robot applications and discuss the issues and challenges for future improvement.

Develop a Vision Based Auto-Recharging System for Mobile Robots

2010 ◽  
Vol 44-47 ◽  
pp. 1340-1344 ◽  
Author(s):  
Kuo Lan Su ◽  
Yung Chin Lin ◽  
Yi Lin Liao ◽  
J. Hung Guo
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Control Device ◽  
Degree Of Freedom ◽  
Usb Interface ◽  
Compression Spring ◽  
Real Time Image ◽  
Wireless Rf Interface ◽  
Time Image

The article develops a vision based auto-recharging system for mobile robots, and programs a new docking processing to enhance successful rate. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger and a detection device and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a control system and a camera. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. The active degree of freedom can move forward to contact the recharging connect points that are arranged in the mobile robot. The two passive degrees of freedom can rotation in the Z-axis and use compression spring moving on various docking condition. In image processing, the mobile robot uses a webcam to capture the real-time image; and transmits the image signal to the computer via USB interface, and uses Otsu algorithm to recognize the position of the docking station. In the experiment results, the system had been successfully guided the mobile robot moving to the docking station using the proposed method.

scholarly journals 1 Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain

2013 ◽  
Vol 1 (1) ◽  
pp. 7
Author(s):  
Muneeb Ilyas ◽  
Muhammad Ehsan Ali ◽  
Nasir Rehman ◽  
Abdul Rehman Abbasi
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Field Testing ◽  
Design Development ◽  
Different Types ◽  
Pros And Cons ◽  
Development Evaluation ◽  
Difficult Terrain ◽  
Tracked Mobile Robot

This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.

scholarly journals Controlling Two-Legged Mobile Robot

2021 ◽  
pp. 106-115
Author(s):  
Nguyen Xuan Hong
Keyword(s):  
Differential Equation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robot Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Driving Forces ◽  
Robot Motion ◽  
Kinematic Modeling ◽  
Step Over

Since the appearance of robots, they have brought many benefits, for example: they can work continuously; they can work in harsh and dangerous environments that cannot be accessed by humans. Thanks to their mobility, mobile robots have a wide and flexible working area, especially two-legged mobile robots that can move in bumpy terrains, go up and down stairs or step over obstacles easily. Nowadays, with the increasing development of science, more and more mobile robots are applied and participated in human activities not only in service activities but also in direct coordination with humans. Robot control methods usually come from robot dynamic model and robot motion differential equation, thereby, calculating driving forces based on the deviation of input and output signals to drive motors on joints in order to ensure that robots moves in the desired trajectory. Two-legged mobile robots have a structure of many phases and joints connected together, besides, due to a large number of degrees of freedom, this type of robot is able to operate flexibly and move easily, however, it has a difficulty in dynamic and kinematic modeling, and robot control. Normally, the differential equation of robot motion will have complex quantities and massive formulas. In order to improve the walk of this robot, this study focuses on researching and surveying the problem of kinetics and dynamics and using a control method to control a specific two-legged mobile robot that moves in a cycle of walking.

scholarly journals Control and Development of Cylindrical Mobile Robot

2013 ◽  
Vol 25 (2) ◽  
pp. 392-399 ◽  
Author(s):  
Tetsuro Hirano ◽  
◽  
Masato Ishikawa ◽  
Koichi Osuka
Keyword(s):  
Cylindrical Shell ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Strategy ◽  
Geometrical Properties ◽  
Rigid Shell ◽  
Rolling Robot

Mobile robots are often exposed to various hazardous situations such as wet or dusty environments. However, it is easy for robots whose components are totally covered with a rigid shell to travel in such environments. For these robots, rolling is an effective way of locomotion. In this study, we focused on a rolling robot with a cylindrical shell to operate in such environments. We analyzed and developed the robot utilizing its interesting geometrical properties and established a control strategy for static locomotion.

A Path Planning Method for Mobile Robots Based on Fuzzy Firefly Algorithms

2020 ◽  
Vol 13 ◽  
Author(s):  
Hui Fu ◽  
Xiaoyong Liu
Keyword(s):  
Path Planning ◽  
Fuzzy Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Strategy ◽  
Firefly Algorithm ◽  
Dynamic Disturbance ◽  
Improved Firefly Algorithm ◽  
Initial Path ◽  
Fuzzy Control Strategy

Introducction: Mobile Robot is a kind of robot system consisting of sensors, remote control operators and automatic control mobile carriers. It is a product of integrated application of integrated disciplines developed in recent years. In the research of mobile robot related technology, navigation technology is its core, and path planning is an important link and subject of navigation research. Objective: An improved firefly algorithm is proposed for path planning of Mobile Robots in this paper. Methods: In this paper, an improved firefly algorithm is proposed. Compared with traditional firefly algorithm, this algorithm has three main improvements: (1) using Sobol sequence to initialize population; (2) adding dynamic disturbance coefficient to enhance the global search ability of the algorithm; (3) considering the uncertainty of search, the attraction between individuals is strong. Fuzzy control is carried out by setting membership function. Results: The new algorithm takes advantage of the uniformity of Sobol sequence sampling and starts to optimize in a wider range, which makes the initial path of the algorithm longer, but because the new algorithm introduces the dynamic disturbance coefficient and the fuzzy control strategy, the average running time is shorter. Conclusion: In the simulation experiment of mobile robot path planning problem, the improved firefly algorithm proposed in this paper is easier to jump out of local optimum than the traditional firefly algorithm, and has more robust search ability. Discussion: It is obvious from the graph that in 100 iterations, the FaFA algorithm takes advantage of the uniformity of Sobol sequence sampling and starts to optimize in a wider range, which makes the initial path of the algorithm longer, but because the FaFA algorithm introduces the dynamic disturbance coefficient and the fuzzy control strategy, it makes the algorithm able.

Bio-Inspired Locomotion of Circular Robots With Diametrically Translating Legs

2019 ◽  
Vol 12 (1) ◽  
Author(s):  
Eric Steffan ◽  
Sudeshna Pal ◽  
Tuhin Das
Keyword(s):  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Analytical Framework ◽  
Degree Of Freedom ◽  
Translational Degree ◽  
Simulation Results ◽  
Cellular Locomotion ◽  
Kinetics Of ◽  
Kinematics And Kinetics

Abstract In this paper, we develop an analytical framework for designing the locomotion of mobile robots with a circular core and equispaced diametral legs, each having a radial translational degree of freedom. The mechanism has resemblance with certain cellular locomotion. The robot travels by radial actuation of the legs in a sequential and synchronized manner. Two elementary regimes of motion are first designed using the geometry and degrees of freedom of the mechanism. Overall motion of the robot is generated by repeated switching between the two regimes. The paper addresses both kinematics and kinetics of the mechanism, enabling the prediction of trajectories and computation of constraint as well as actuation forces. Simulation results are provided in support of the theory developed.

A mobile robot with autonomous climbing and descending of stairs

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 171-188 ◽  
Author(s):  
Pinhas Ben-Tzvi ◽  
Shingo Ito ◽  
Andrew A. Goldenberg
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Urban Environments ◽  
Robot Design ◽  
Military Operations ◽  
Technical Problems ◽  
Hazardous Environments ◽  
Functional Attributes ◽  
Tracked Mobile Robot ◽  
Embedded Intelligence

SUMMARYMobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for artificial environments, including stairways. This paper presents a mobile robot design that achieves autonomous climbing and descending of stairs. The robot uses sensors and embedded intelligence to achieve the task. The robot is a reconfigurable tracked mobile robot that has the ability to traverse obstacles by changing its track configuration. Algorithms have been further developed for conditions under which the mobile robot would halt its motion during the climbing process when at risk of flipping over. Technical problems related to the implementation of some of the robot functional attributes are presented, and proposed solutions are validated and experimentally tested. The experiments illustrate the effectiveness of the proposed approach to autonomous climbing and descending of stairs.

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