Attitude-based dynamic and kinematic models for wheels of mobile robot on deformable slope

Li, Yuankai; Ding, Liang; Liu, Guangjun

doi:10.1016/j.robot.2015.10.006

Cited by 10 publications

(3 citation statements)

References 23 publications

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“…The potential energy is neglected because it is considered a horizontal not vertical displacement; therefore, U = 0, (Li et al, 2015).…”

Section: Dynamic Analysismentioning

confidence: 99%

Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel

Amador¹,

Castañeda²

2022

Mech. Sci.

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Abstract. The increased use of spherical wheels has allowed mobile robots to have a higher degree of maneuverability, less complex path planning and less complex control schemes. The geometry and design of the mobile robot are the principal attributes that guarantee an omnidirectional motion. Furthermore, the platform uses an active spherical wheel and four passive spherical wheels to get the best stability when the robot uses a terminal element (Kärcher). The proposed model has been designed to improve the omnidirectional motion issues, such as vibration into the platform or lack of punctual contact between the wheel and the floor, compared to mobile robots using Mecanum wheels and more than one active wheel; due to the design concept, all the mathematical formulations, kinematics and dynamics presents how the models are validated with computer simulations.

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“…The potential energy is neglected because it is considered a horizontal not vertical displacement; therefore, U = 0, (Li et al, 2015).…”

Section: Dynamic Analysismentioning

confidence: 99%

Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel

Amador¹,

Castañeda²

2022

Mech. Sci.

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show abstract

“…Traction force sets the vehicle into a forward motion. Thus, the traction force is represented as the sum of stresses in a horizontal direction, which arise as a result of soil counteraction to the rotation of the wheel [2]. Such explanation is also false, because friction force is the passive force and it cannot move a vehicle.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Determining the magnitude of traction force on the axes of drive wheels of self-propelled machines

Golub

Chuba

Kukharets

2017

EEJET

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“…Autonomous vehicles with non-holonomic characteristics [6][7][8] can be technologically adapted to different environments, and so, produce unmanned ground vehicles (UGVs) [9][10][11], unmanned underwater vehicles (UUVs) [12][13][14], and unmanned aerial vehicles (UAVs) [15][16][17][18]. Obviously, each of the above categories presents its own scientific and technological challenges, including path planning, navigation, and guidance.…”

Section: Introductionmentioning

confidence: 99%

Smooth 3D Path Planning by Means of Multiobjective Optimization for Fixed-Wing UAVs

et al. 2019

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Demand for 3D planning and guidance algorithms is increasing due, in part, to the increase in unmanned vehicle-based applications. Traditionally, two-dimensional (2D) trajectory planning algorithms address the problem by using the approach of maintaining a constant altitude. Addressing the problem of path planning in a three-dimensional (3D) space implies more complex scenarios where maintaining altitude is not a valid approach. The work presented here implements an architecture for the generation of 3D flight paths for fixed-wing unmanned aerial vehicles (UAVs). The aim is to determine the feasible flight path by minimizing the turning effort, starting from a set of control points in 3D space, including the initial and final point. The trajectory generated takes into account the rotation and elevation constraints of the UAV. From the defined control points and the movement constraints of the UAV, a path is generated that combines the union of the control points by means of a set of rectilinear segments and spherical curves. However, this design methodology means that the problem does not have a single solution; in other words, there are infinite solutions for the generation of the final path. For this reason, a multiobjective optimization problem (MOP) is proposed with the aim of independently maximizing each of the turning radii of the path. Finally, to produce a complete results visualization of the MOP and the final 3D trajectory, the architecture was implemented in a simulation with Matlab/Simulink/flightGear.

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Attitude-based dynamic and kinematic models for wheels of mobile robot on deformable slope

Cited by 10 publications

References 23 publications

Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel

Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel

Determining the magnitude of traction force on the axes of drive wheels of self-propelled machines

Smooth 3D Path Planning by Means of Multiobjective Optimization for Fixed-Wing UAVs

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