The ABC's of Wheeled Vehicle III. Kinematics of Wheeled-type Mobile Robot.
نویسندگان
چکیده
منابع مشابه
Wheeled Mobile Robot Modeling
The paper addresses three important topics in mobile robotics. These are the path follower, the multi-sensors and the steering fuzzy controllers for wheeled mobile robot. This paper presents a novel computer vision methodology for building a system capable of determining the presence of a path follower, tracking the objects on that path, and recognizing the objects shape in vertical or in horiz...
متن کاملOn the Kinematics of Wheeled Mobile Robots
A wheeled mobile robot is here modelled as a planar rigid body that rides on an arbitrary number of wheels. The relationship between the rigid body motion of the robot and the steering and drive rates of wheels is developed. In particular, conditions are obtained that guarantee that rolling without skidding or sliding can occur. Explicit differential equations are derived to describe the rigid ...
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The autonomous wheeled mobile robots are very interesting subject both in scientific research and practical applications. The article deals with the fuzzy control of autonomous wheeled mobile robotic platform motion in an unstructured environment with obstacles. The simulation results show the effectiveness and the validity of the obstacle avoidance behaviour in unstructured environments and th...
متن کاملWheeled mobile robot modeling aspects
A young designer of the wheeled mobile robot has to answer a wide range of questions before making a final decision to build a prototype. The basic problem is to define an appropriate drive and type of construction. At this stage, the young designers usually duplicate ready-made solutions, however, in general uses an inappropriate drive. The robot behaves correctly only after several failed des...
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In this paper, we present a new robot ROMAIN. We describe the used mechanical, hardware and software architecture. This open structure is realized with a serial high speed bus : CAN. We develop the contraint and dynamic equations and we explain the state system. To control this robot, we use a variable structure control to track desired trajectories. However, this control method is too constrai...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1995
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.13.355