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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| Published in | Robotica Vol. 29; no. 3; pp. 471 - 482 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Cambridge, UK
Cambridge University Press
01.05.2011
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0263-5747 1469-8668 |
| DOI | 10.1017/S0263574710000317 |
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| Abstract | 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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| AbstractList | 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. 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. [PUBLICATION ABSTRACT] |
| Author | Hardy, Leon Ibrahim, Yousef Percy, Andrew Spark, Ian |
| Author_xml | – sequence: 1 givenname: Andrew surname: Percy fullname: Percy, Andrew email: andrew.percy@sci.monash.edu.au organization: †School of Applied Science and Engineering, Monash University, Churchill, VIC 3842, Australia – sequence: 2 givenname: Ian surname: Spark fullname: Spark, Ian organization: ‡Gippsland Regional Automation Centre, Monash University, Churchill, VIC 3842, Australia – sequence: 3 givenname: Yousef surname: Ibrahim fullname: Ibrahim, Yousef organization: †School of Applied Science and Engineering, Monash University, Churchill, VIC 3842, Australia – sequence: 4 givenname: Leon surname: Hardy fullname: Hardy, Leon organization: §Department of Physics, University of South Florida, St. Petersburg, FL 33701, USA |
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| Keywords | Snake-like robot Control system 4WD-4WS Cooperative redundancy |
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| References | S0263574710000317_ref10 S0263574710000317_ref11 S0263574710000317_ref14 S0263574710000317_ref12 S0263574710000317_ref13 S0263574710000317_ref18 Percy (S0263574710000317_ref4) 2009 S0263574710000317_ref2 S0263574710000317_ref19 S0263574710000317_ref16 S0263574710000317_ref17 Lipschutz (S0263574710000317_ref15) 1969 S0263574710000317_ref9 S0263574710000317_ref7 S0263574710000317_ref8 Spark (S0263574710000317_ref1) 2001 S0263574710000317_ref5 S0263574710000317_ref3 Klassen (S0263574710000317_ref6) 1999 |
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| Snippet | 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... 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... |
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| Title | A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments |
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