A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments

This paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel s...

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Bibliographic Details
Published inRobotica Vol. 29; no. 3; pp. 471 - 482
Main Authors Percy, Andrew, Spark, Ian, Ibrahim, Yousef, Hardy, Leon
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.05.2011
Subjects
Algorithms
Computer simulation
Curvature
Mathematical analysis
Mathematical models
Robots
Segments
Wheels
Snake-like robot
Control system 4WD-4WS
Cooperative redundancy
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ISSN0263-5747
1469-8668
DOI10.1017/S0263574710000317

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Summary:This paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574710000317