Path following for two HOG wheels mobile robot

• Autorzy: Joniak P. , Muszyński R.

Identyfikatory

DOI

10.14313/JAMRIS_2-2017/19

• Języki publikacji: EN

Abstrakty

EN

To apply a spinning hemisphere as a mobile robot drive is an unconventional idea. Equipping a mobile robot with two such hemispheres brings to life a device with absolutely novel properties. In this paper we derive kinematics models of a mobile robot with two driving hemispheres, analyse shortly their properties, and adopt a control algorithm designed to follow a path. There are two kinematics models presented: the full model of the original system, and the model of the simplified system, equivalent to the original one. The second model is expressed in two different coordinate systems – the later allowing for the application of known control algorithms to drive the robot. The performance of the analysed algorithm is illustrated by computer simulations

Słowa kluczowe

EN

Hemispherical Omnidirectional Gimbaled wheel; hemispheres; mobile robot; path following

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 2
• Strony: 75--81
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Joniak P.

• Faculty of Mathematics and Computer Science, University of Wrocław, ul. Fryderyka Joliot-Curie, 51-137 Wrocław, Poland

autor

Muszyński R.

• Department of Cybernetics and Robotics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

Bibliografia

• [1] E. Ackerman. “You’ve never seen a robot drive system like this before”. IEEE Spectrum, http://spectrum.ieee.org/automaton/robotics/diy/youve-never-seen-a-drivesystem-like -this-before, Jul 2011.
• [2] T. Center. “Hemispherical gimbaled wheel drive system (HOG wheel)”. http://www.techcenter.in/2011/07/hemisphericalgimbaled-wheel-drive.html.
• [3] C. C. de Wit, G. Bastin, and B. Siciliano, eds., Theory of Robot Control, Springer-Verlag New York, Inc.: Secaucus, NJ, USA, 1996.
• [4] P. Joniak. “Analysis of two HOG wheel mobile robot behaviour”. Bachelor’s thesis, Wroclaw University of Science and Technology, 2015. (in Polish).
• [5] P. Joniak and R. Muszyński. “Behaviour of two HOG wheels mobile robot”. In: K. Tchoń and C. Zieliński, eds., Progress in Robotics, volume I, 103–114. Oficyna Wydawnicza Politechniki Warszawskiej, 2016. (in Polish).
• [6] “Wolfram Mathematica”. http://www.wolfram. com/mathematica/.
• [7] A. Micaelli and C. Samson. “Trajectory tracking for unicycle-type and two-steering-wheels mobile robots”. Technical Report 2097, Institut National De Recherche En Informatique Et En Automatique, 1993.
• [8] M. Rybczyński. “Model of mobile robot with HOG wheel”. Bachelor’s thesis, Wroclaw University of Science and Technology, 2011. (in Polish).
• [9] C. Samson, “Path following and time-varying feedback stabilization of a wheeled mobile robot”. In: International Conference on Advanced Robotics and Computer Vision, vol. 13, 1992, 1.1–1.5.
• [10] Unknown, “Hemisphere drive speedster”, Mechanics and Handicraft, vol. 5, no. 9, 1938, 23,73, Provided by Modern Mechanix, http://blog.modernmechanix.com/hemispheredrive-speedster/.
• [11] Wikipedia. “Hog wheel”. http://en.wikipedia.org/wiki/Hemispherical_omnidirectional_gimbaled_wheel.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)