Mobile robot modelling and autonomous guidance

Montenegro, Carlos Perez; Canuto, Enrico; Cardenas-Olaya, Andrea C.; Acuña-Bravo, Wilber

doi:10.1109/ccac.2015.7345208

Cited by 3 publications

(2 citation statements)

References 21 publications

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“…This subsystem is responsible for handling SSWMR. Guidance and navigation systems are used to track the position estimates of SSWMR, which is then used by mechanical control to adjust the heading of the robot (Perez-Montenegro et al , 2015). The control system of SSWMR uses commands from onboard computers to execute the desired movement.…”

Section: Overview Of Skid-steer Wheeled Mobile Robotsmentioning

confidence: 99%

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Khan

Malik

Raza

et al. 2020

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Purpose The purpose of this paper is to provide a comprehensive and unified presentation of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its control, guidance and navigation for the researchers who wish to study in this field. Design/methodology/approach Most of the contemporary unmanned ground robot’s locomotion is based upon the wheels. For wheeled mobile robots (WMRs), one of the prominent and widely used driving schemes is skid steering. Because of mechanical simplicity and high maneuverability particularly in outdoor applications, SSWMR has an advantage over its counterparts. Different prospects of SSWMR have been discussed including its design, application, locomotion, control, navigation and guidance. The challenges pertaining to SSWMR have been pointed out in detail, which will seek the attention of the readers, who are interested to explore this area. Findings Relying on the recent literature on SSWMR, research gaps are identified that should be analyzed for the development of autonomous skid-steer wheeled robots. Originality/value An attempt to present a comprehensive review of recent advancements in the field of WMRs and providing references to the most intriguing studies.

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Section: Overview Of Skid-steer Wheeled Mobile Robotsmentioning

confidence: 99%

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Khan

Malik

Raza

et al. 2020

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show abstract

“…Kemudian model ini harus memasukkan parameter lain seperti faktor gesekan antara roda dengan lantai untuk mensimulasikan keadaan sebenarnya sehingga jika gangguan tersebut muncul maka robot dapat mengantisipasinya dengan baik [1].…”

Section: Pendahuluanunclassified

Pemodelan Robot Beroda Menggunakan Umpan Balik Giroskop

Rahman¹

2016

JRE

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Modeling of a system is an important step for designing a good controller for a wheeled mobile robot. There are several techniques can be used gaining a model. One is deriving an analytical model mathematically. Another technique is by using system identification where the robot is given an input test signal and then measured the output signal. This technique, in general, is simpler compared to the analytic one. This paper described the modeling of a wheel mobile robot and used a gyroscope sensor as a feedback.The transfer function model of the robot is a second order system.

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Simulation Method for the Transport System of a Small-Sized Reconfigurable Mobile Robot

Vasiliev

Dalyaev

2021

Machines

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This study focuses on the features of transport (locomotion) systems of mobile mini-robots (MMR), i.e., small unmanned ground vehicles of a portable type measuring several tens of centimeters and weighing no more than 15 kg. A distinctive feature of the considered MMR is the possibility of its both structural reconfiguration (i.e., the ability to function in two options—tracked and wheeled) and geometric reconfiguration in the tracked option (i.e., chassis geometry variation). Thus, the transport system of such a mobile robot is divided into two components: a locomotion subsystem and a chassis geometry variation subsystem. The article examines the factors that are necessary for the correct mathematical description of such a small-sized and relatively high-speed transport system. A method for constructing a computer model of the transport system as an electromechanical device only is proposed. Such a computer model of the MMR transport system is developed for two types of chassis configurations: tracked and wheeled. The experimental studies performed and the comparison of the experimental and simulated data obtained showed their close convergence, within 5 to 7%. Thus, it is shown that the revealed features of the MMR transport systems along with the proposed method for their computer model development considering these features make it possible to increase the accuracy and adequacy of the MMR motion simulation in comparison with previously known approaches used in the computation of larger vehicles. The results obtained make it possible to consider the proposed computer model of the transport system as an electromechanical component of the complete model of a mobile robot.

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Mobile robot modelling and autonomous guidance

Cited by 3 publications

References 21 publications

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Comprehensive study of skid-steer wheeled mobile robots: development and challenges

Pemodelan Robot Beroda Menggunakan Umpan Balik Giroskop

Simulation Method for the Transport System of a Small-Sized Reconfigurable Mobile Robot

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