Design and Steering Control of a Center-Articulated Mobile Robot Module
Joint Authors
McIsaac, Kenneth A.
Delrobaei, Mehdi
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-01-18
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This paper discusses the design and steering control for an autonomous modular mobile robot.
The module is designed with a center-articulated steering joint to minimize the number of actuators used in the chain.
We propose a feedback control law which allows steering between configurations in the plane and show its application as a parking control to dock modules together.
The control law is designed by Lyapunov techniques and relies on the equations of the robot in polar coordinates.
A set of experiments have been carried out to show the performance of the proposed approach.
The design is intended to endow individual wheeled modules with the capability to merge and make a single snake-like robot to take advantage of the benefits of modular robotics.
American Psychological Association (APA)
Delrobaei, Mehdi& McIsaac, Kenneth A.. 2012. Design and Steering Control of a Center-Articulated Mobile Robot Module. Journal of Robotics،Vol. 2011, no. 2011, pp.1-14.
https://search.emarefa.net/detail/BIM-485900
Modern Language Association (MLA)
Delrobaei, Mehdi& McIsaac, Kenneth A.. Design and Steering Control of a Center-Articulated Mobile Robot Module. Journal of Robotics No. 2011 (2011), pp.1-14.
https://search.emarefa.net/detail/BIM-485900
American Medical Association (AMA)
Delrobaei, Mehdi& McIsaac, Kenneth A.. Design and Steering Control of a Center-Articulated Mobile Robot Module. Journal of Robotics. 2012. Vol. 2011, no. 2011, pp.1-14.
https://search.emarefa.net/detail/BIM-485900
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-485900