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Motion Modeling of the Four-Wheeled Mobile Platform Under Slippage Conditions

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Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The work is dedicated to the designing motion of the four wheeled mobile platform under the unsteady conditions. The prototype of platform equipped with four drive modules is considered. The description of the platform’s dynamics has been proposed in the paper. The theoretical and calculation models of the platform have been determined. The prototype model is useful to examine different configurations of the drive wheels and to analyse the relations between the causes and effects of the motion. In order to build an universal algorithm in understanding the platform’s motion and in order to know limits of the motion parameters the solution of the problem is presented. The relations between friction forces, in longitudinal and transverse directions, and the active forces, with resistance forces are considered. The formulated initial problem has been solved numerically with use of the Runge-Kutta method of the fourth order. The sample simulation results are included in the paper.
Rocznik
Strony
43--53
Opis fizyczny
Bibliogr. 9 poz., tab., wykr.
Twórcy
autor
autor
Bibliografia
  • 1. Campion, G., Bastin, G., and Dandrea-Novel, B. (1996). Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Transactions on Robotics and Automation, 12(1):47–62.
  • 2. Do, K. D. (2009). Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges. Robotics and Autonomous Systems, 57(1):34–47.
  • 3. Eghtesad, M. and Necsulescu, D. S. (2006). Study of the internal dynamics of an autonomous mobile robot. Robotics and Autonomous Systems, 54(4):342–349.
  • 4. Jaskot, A., Posiadała, B., and Śpiewak, S. (2015). Dynamics model of the four wheeled mobile platform, dynamical systems. Mechatronics and Life Sciences, pages 227–236.
  • 5. Khoukhi, A. (2015). Data-driven multi-stage multi-objective motion planning of mobile robots, application to near minimum power fuzzy parking. Computers & Electrical Engineering, 43:218–237.
  • 6. Lenain, R., Thuilot, B., Cariou, C., and Martinet, P. (2006). High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks. Autonomous Robots, 21(1):79–97.
  • 7. Lucet, E., Lenain, R., and Grand, C. (2015). Dynamic path tracking control of a vehicle on slippery terrain. Control Engineering Practice, 42:60–73.
  • 8. Sidek, S. N. (2008). Dynamic modeling and control of nonholonomic wheeled mobile robot subjected to wheel slip. PhD thesis, Vanderbilt University.
  • 9. Zohar, I., Ailon, A., and Rabinovici, R. (2011). Mobile robot characterized by dynamic and kinematic equations and actuator dynamics: Trajectory tracking and related application. Robotics and Autonomous Systems, 59(6):343–353.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-3f1660ba-e9d2-49fe-8baa-09eca4be2cd3
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