Modeling and control of a small mobile robot with multi-locomotion modes

被引：0
|
作者：
Duan, Xingguang [1 ]
Huang, Qiang [1 ]
Rahman, Nasir [1 ]
Li, Jingtao [1 ]
Du, Qinjun [1 ]
机构：
[1] Beijing Inst Technol, Dept Mechatron Engn, Beijing 100081, Peoples R China
来源：
ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2 | 2006年
关键词：
mobile robot; multi-locomotion modes; kinematic; dynamic control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper we describes the kinematic and dynamic control modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The models for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode. Different kinematics and dynamic control equations are derived based on its multi-locomotion modes respectively, and their features in different modes are revealed. Particularly, the modeling description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. By using the Routh method, the dynamic control model is established. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position, posture and its dynamic characteristics that can be used for autonomous motion control of robot operating with different locomotion modes in rough terrains.
引用
收藏
页码：592 / +
页数：2
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