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In this paper, we present a leader-follower controller for the Micro-Hydraulic Toolkit (MHT), a skid-steering wheel-legged robot designed by Defence Research and Development Canada - Suffield Research Centre. The objective of the controller is to maneuver the MHT towards a desired position with respect to a designated leader. Using the range and bearing of the leader from the robot, the leader-follower...
The technological development of the improvement to a mobile robot prototype detector of gamma radiation is shown. The mobile robot has been tested in two configurations, (wheel differential configuration with two side traction wheels and anotherconfiguration with four drive wheels). This platform for its small size (drive wheels 11 cm in diameter) and it can be applied in laboratory to test algorithms...
In this paper, we develop an elaborate three-dimensional dynamical model for a novel single-actuator variable-diameter differentially-driven robot by taking recourse to Lagrangian formulation. Utilizing this model, we were able to analyze the various parameters and develop design tools that could be used in realizing such a robot with certain motion requirements. Given the single actuator design that...
This paper presents a multi-robot system for autonomous vehicle extraction and transportation based on the “a-robot-for-a-wheel” concept. The developed prototype is able to extract vehicles from confined spaces with delicate handling, swiftly and in any direction. The novel lifting robots are capable of omnidirectional movement, thus they can under-ride the desired vehicle and dock to its wheels for...
This paper proposes the emulation of the socalled kingpin mechanism in order to reduce the off-tracking effects exhibited by the standard and generalized n-trailer systems. In turn, both systems are emulated by a group of differential-drive mobile robots trough time-varying relative position vectors using the leader-follower scheme. A control law is proposed which involves the position of the virtual...
This paper considers the parallel parking problem of automatic front-wheel steering vehicles. The problem of stabilizing the vehicle at desired position and orientation is seen as an extension of the tracking problem. A saturated control is proposed which achieves quick steering of the system near the desired position of the parking spot with desired orientation and can be successfully used in solving...
In this paper we present an algorithm for autonomous path tracking of a mobile robot to track straight and curved paths traced in the environment. The algorithm uses a fuzzy logic based approach for path tracking so that human driving behavior can be emulated in the mobile robot. The method combines a fuzzy steering controller, which controls the steering angle of the mobile robot for path tracking,...
Skid-steering mobile robots, both wheels and tracked vehicles, are widely used because of their simple mechanism and robust. However, due to the complex wheel-ground interactions and the kinematics constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop a kinematics modeling estimation scheme to analyze the skid-steering wheeled...
In this paper we develop an algorithm to generate gait sequences to negotiate a discontinuous terrain for a hybrid 4-wheeled legged robot. The gait sequence comprises two main steps — normal force redistribution and hybrid position-force control. The robot climbs the discontinuity one leg at a time. This requires that the entire load of the robot is taken up by the other three legs so that the leg...
The development of automatic robots is one of the research fields in flexible manufacturing systems (FMS) aiming to carry out tasks in the logistic areas. This reduces human intervention, as well as automates repetitive and/or inappropriate tasks. This article presents the design and mathematical models of an AGV, Automated guided vehicle, as part of FMS. It proposes a mechatronics design methodology...
This article describes the concept of a novel car transportation system including two mobile robots with a lift mechanism for single wheel. The system lifts only two drive wheels of a front-wheel-drive vehicle or a rear-wheel-drive vehicle, and transports them. However, the system has nonholonomic constraints because all wheels of a vehicle are not lifted by the system. This article also describes...
Because of their high degree of maneuverability, four wheel steered robotic vehicles have increasingly attracted interest in many applications. These robots are characterized by ability to easily maneuver tight turns. Two types of such vehicles have been identified: vehicles with independently steered wheels, and vehicles with mechanically coupled pairs of steered wheels. While the latter group has...
This paper considers the platooning problem: we aim to steer a train of vehicles along an unknown path generated by the first vehicle, which is human driven. Among existing approaches, we study a decentralised local approach to avoid robustness issues due to communication failure which are common to centralised approaches. However, decentralised control rises up the problem of lateral deviation which...
In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented. The omnidirectional robot has four active split offset caster (ASOC) modules, enabling the robot to move in any planar direction. It also possesses passive suspension articulation, allowing the robot to conform to uneven terrain. The agility of the robot is experimentally evaluated in various...
A versatile unmanned ground vehicle (UGV) should be able to traverse rough terrain while retaining a small form factor for navigating confined spaces. Such a (patent pending) vehicle, dubbed Switchblade, is developed in the present work via an effective combination of a novel transforming mechanical design, capable onboard electronics, and advanced feedback control algorithms. A single chassis holds...
This paper briefly discusses about the physical properties of a mobile platform. In recent years, vehicles that move autonomously have received a good deal of attention where the US federal government through its various agencies has been the major sponsor of research in this field. Natural disaster such as earthquake or storm would be extremely dangerous and hazardous for search and rescue operation...
This paper presents two new algorithms for real-time calculation of the wheel angles and speeds of gantry tractor modules. In transport mode, the gantry tractor is, in a sense, a snakelike robot with passive joints and active wheels, with each module having autonomous four-wheel drive and four-wheel steering. The algorithms determine the wheel angles and speeds of each module with the prescription...
In this paper a novel suspension mechanism for rough terrain mobility is proposed. The proposed mechanism is simpler than the existing suspension mechanism in the sense that the number of links and joints has been significantly reduced without compromising the climbing ability of the rover. We explore the use of compliant elements like springs for passively controlling the degree of freedom of the...
Statically and dynamically reconfigurable robot mechanisms have been extensively studied by a number of researchers. Control formulations have been proposed for specific mechanisms and some researchers have tried to build unified frameworks for general robot control. This paper reports an extension of the differential drive mechanism that we call the Heterogeneous Differential Drive. Bridging the...
This work aims to develop and build a well designed two wheeled vehicle with specific features. Certain mechanical issues are discussed for a well designed mechanical prototype. The prototype is designed so as to be able to carry and move a payload in a vertical direction while maintaining a balanced condition of the vehicle on two wheels. Considering the various positions, speeds and different sizes...
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