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Comparative Analysis of Mobile Robot Wheels Design
2018 11th International Conference on Developments in eSystems Engineering (DeSE), 2018© 2018 IEEE. This paper considers a design of wheeled mobile robot platforms. Each platform is designed for a set of specific tasks and thus is supposed to work in previously known general conditions of its environment. A robotic system could be constructed as a holonomic or a non-holonomic system, which directly correlates with a type of its wheels ...
Ksenia Shabalina +2 more
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A motion control of a two-wheeled mobile robot
IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028), 2001We discuss the motion control of a two-wheeled mobile robot. In the design of a controller for the system, a kinematic model is usually used; the wheels do not skid at all and the mobile robot is regarded as a 3D 2-input nonholonomic system without drift. Many controllers based on the kinematic model have been proposed.
Takateru Urakubo +2 more
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Wheeled Mobile Robots: A review
IEEE Latin America Transactions, 2012Robotics is a fast developing and exciting field with multiple applications which span from robot manipulators to mobile robots. This paper presents a literature review on wheeled mobile robots. We point out the main considerations to be taken into account when designing this class of robots.
Ramon Silva Ortigoza +7 more
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2018
While the classical holonomic constraints limit the freedom of motion through the position variables, and thus simultaneously through the velocity variables, the non-holonomic constraints, realized purely mechanically via (for example) rolling wheels, lead to a restriction of the velocities only, not of the positions.
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While the classical holonomic constraints limit the freedom of motion through the position variables, and thus simultaneously through the velocity variables, the non-holonomic constraints, realized purely mechanically via (for example) rolling wheels, lead to a restriction of the velocities only, not of the positions.
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Design a Transformable Wheel for Enhancing Mobility of 4-Wheeled Mobile Robot
Applied Mechanics and Materials, 2015This paper proposes a design of transformable wheel for enhancing mobility. Mobility evaluation is performed by mechanical theories as stability margin and obstacle overcoming and its calculating methods are used for simulations. A feasibility of suggested transformable wheel is investigated by simulations.
In Ho Kim +4 more
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Guided Formation Control for Wheeled Mobile Robots
2006 9th International Conference on Control, Automation, Robotics and Vision, 2006This paper considers the topic of formation control for wheeled mobile robots (WMRs). Specifically, the work deals with unicycle-type WMRs (i.e., underactuated vehicles that experience a lateral zero-speed constraint, such that their linear velocity at all times is aligned with the longitudinal axis of symmetry).
Morten Breivik +2 more
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Velocity kinematic modeling for wheeled mobile robots
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002Presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pair of WMRs including wheeled pairs which were dealt with in ad-hoc manners in previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs ...
Dong Hun Shin, Kyung Hoon Park
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Mobile robot with non-slip castor wheel
2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017In this paper we address a problem of a non-slip castor wheel's impact on the control system of a tri-wheel mobile robot, which moves on a flat surface. We derive relations between the castor wheel's torsion angle and drive velocities and show results of controller's simulation, with and without the impact of the castor wheel.
Ryszard Beniak, Tomasz Pyka
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Shortest distance paths for wheeled mobile robots
IEEE Transactions on Robotics and Automation, 1998Minimal distance paths between prescribed initial and final configurations of a wheeled mobile robot are calculated, both analytically and numerically, using methods of optimal control. The construction of these trajectories can be considered as part of an analysis of obstacle avoidance.
James C. Alexander +2 more
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Control of a wheeled mobile robot with double steering
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002The motion of a vehicle with automated guidance (an AGV or a wheeled mobile robot) equipped with two steerable traction wheels in the front and rear is studied. Compared with a conventional form of these vehicles, there is some degree of redundancy in their system of path tracking.
Mostafa G. Mehrabi +2 more
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