Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles

2013 ◽  
Author(s):  
Aliakbar Alamdari ◽  
Xiaobo Zhou ◽  
Venkat N. Krovi
Keyword(s):  
Rough Terrain ◽  
Full Potential ◽  
Kinematic Modeling ◽  
Uneven Terrain ◽  
Wheeled Vehicle ◽  
Modeling Analysis ◽  
Improved Stability ◽  
Trajectory Following ◽  
And Control ◽  
Wheeled Vehicles

The Articulated Wheeled Vehicle (AWV) paradigm examines a class of wheeled vehicles where the chassis is connected via articulated chains to a set of ground-contact wheels. Actively- or passively-controlled articulations can help alter wheel placement with respect to chassis during locomotion, endowing the vehicle with significant reconfigurability and redundancy. The ensuing ‘leg-wheeled’ systems exploit these capabilities to realize significant advantages (improved stability, obstacle surmounting capability, enhanced robustness) over both traditional wheeled- and/or legged-systems in a range of uneven-terrain locomotion applications. In our previous work, we exploited the reconfiguration capabilities of a planar AWR to achieve internal shape regulation, secondary to a trajectory-following task. In this work, we extend these capabilities to the full 3D case — in order to utilize the full potential of kinematic- and actuation-redundancy to enhance rough-terrain locomotion.

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

Design and Control Method of a Planar Omnidirectional Crawler Mechanism

2021 ◽  
pp. 1-29
Author(s):  
Eri Takane ◽  
Kenjiro Tadakuma ◽  
Masahiro Watanabe ◽  
Masashi Konyo ◽  
Satoshi Tadokoro
Keyword(s):  
Control Method ◽  
Soft Soil ◽  
Rough Terrain ◽  
Distribution Centers ◽  
Uneven Terrain ◽  
Large Pressure ◽  
Large Contact Area ◽  
Heavy Loads ◽  
And Control ◽  
The Relationship

Abstract Omnidirectional mobility is a popular method of moving in narrow spaces. In particular, the planar omnidirectional crawler previously developed by the authors can traverse unstable and uneven terrain with a large contact area. A novel point is that the proposed system is unique in its ability to carry heavy loads in all directions without getting stuck because of the large pressure-receiving area between the crawler and ground. This work will facilitate omnidirectional motion, which has important implications for the use of robots in spaces such as not only factories, distribution centers, and warehouses but also soft soil in disaster sites. The objective of the present study was to establish a design and control method for an omnidirectional crawler mechanism that can conduct holonomic and two-axis cross driving. Only two motors are set on the crawler base for translation in the X- and Y-directions, and two large crawler units are arranged for turning. We design a small crawler that has higher traversing ability with a derailment prevention mechanism and tapered track. Further, the relationship between the motor rotational speed as input and crawler velocity as output was verified for control. In addition, it was demonstrated experimentally that the proposed crawler could travel across various types of rough terrain in a target direction.

Kinematic Geometry of Wheeled Vehicle Systems

1999 ◽  
Vol 121 (1) ◽  
pp. 50-56 ◽  
Author(s):  
S. V. Sreenivasan ◽  
P. Nanua
Keyword(s):  
Spherical Surface ◽  
Geometric Approach ◽  
First Order ◽  
Uneven Terrain ◽  
Geometric Conditions ◽  
Wheeled Vehicle ◽  
Kinematic Analyses ◽  
Motion Characteristics ◽  
The One ◽  
Wheeled Vehicles

This paper utilizes a kinematic-geometric approach to study the first-order motion characteristics of wheeled vehicles on even and uneven terrain. The results obtained from first-order studies are compared to those obtained from second order kinematic analyses, and special situations where the first-order analysis is inadequate are discussed. This approach is particularly suited for studying actively actuated vehicles since their designs typically do not include intentional passive compliances. It is shown that if a vehicle-terrain combination satisfies certain geometric conditions, for instance when a wheeled vehicle operates on even terrain or on a spherical surface, the system possesses a singularity—it possesses finite range mobility that is higher than the one obtained using Kutzbach criterion. On general uneven terrain, the same vehicles require undesirable ‘kinematic slipping’ at the wheel-terrain contacts to attain the mobility that it possesses on these special surfaces. The kinematic effects of varying the vehicle and/or terrain geometric parameters from their nominal values are discussed. The design enhancements that are required in existing off-road vehicles to avoid kinematic slipping are presented for a class of vehicles that include two-wheel axles in their designs.

Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration With Extensions to Motion Planning on Uneven Terrain

1996 ◽  
Vol 118 (2) ◽  
pp. 312-317 ◽  
Author(s):  
S. V. Sreenivasan ◽  
K. J. Waldron
Keyword(s):  
Motion Planning ◽  
Multiple Solutions ◽  
Geometric Reasoning ◽  
Displacement Analysis ◽  
Uneven Terrain ◽  
Wheeled Vehicle ◽  
Vehicle Configuration ◽  
Wheeled Vehicles

This manuscript presents a displacement analysis of actively articulated wheeled vehicles on uneven terrain. These vehicles are distinct from traditional wheeled systems since they have the ability to actively adapt to variations in the terrain and they can actively influence the forces at the wheel-terrain contact locations. They also possess special mobility capabilities such as obstacle climbing and self-recovery from an over-turn failure. The problem of solving for the configuration of these vehicles on uneven terrain has been addressed in detail. The displacement analysis leads to multiple solutions due to the inherent nonlinearity in the position kinematic equations. Geometric reasoning has been used to identify the particular configuration that represents the “correct” vehicle geometry on the terrain. Applications of the displacement analysis algorithms to vehicle planning on uneven terrain have been discussed. An obstacle climbing maneuver of a three-module actively articulated wheeled vehicle has been described.

Hexapod Locomotion of a Leg-Wheel Hybrid Mobile Robot

2014 ◽  
Vol 658 ◽  
pp. 581-586
Author(s):  
Alina Conduraru Slatineanu ◽  
Ioan Doroftei ◽  
Ionel Conduraru ◽  
Dorin Luca
Keyword(s):  
High Speed ◽  
Real Life ◽  
Control Algorithms ◽  
Wheeled Robots ◽  
Flat Surfaces ◽  
Uneven Terrain ◽  
Difficult Terrain ◽  
Hybrid Locomotion ◽  
And Control ◽  
Wheeled Vehicles

Legged vehicles are more flexible and mobile on difficult terrain, comparing to wheeled robots. Wheels are convenient on flat surfaces or specially prepared surfaces, wheeled vehicles being faster than legged ones. Also, wheeled robots are simpler in terms of mechanical architecture and control algorithms. But they do not perform well on uneven terrain, which is the case in real life, legged robots becoming more interesting to research and explore. This is why hybrid locomotion systems have been developed, in order to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper some design and kinematic aspects as well as hexapod locomotion of a small hybrid robot are presented.

scholarly journals Model-Based Slippage Estimation to Enhance Planetary Rover Localization with Wheel Odometry

2021 ◽  
Vol 11 (12) ◽  
pp. 5490
Author(s):  
Anna Maria Gargiulo ◽  
Ivan di Stefano ◽  
Antonio Genova
Keyword(s):  
Inertial Measurement Unit ◽  
Correction Method ◽  
Harsh Environments ◽  
Measurement Unit ◽  
Planetary Rovers ◽  
Model Based ◽  
Accurate Knowledge ◽  
And Control ◽  
Wheeled Vehicles ◽  
Rover Localization

The exploration of planetary surfaces with unmanned wheeled vehicles will require sophisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.

Terrain Adaptive Vehicles

1995 ◽  
Vol 117 (B) ◽  
pp. 107-112 ◽  
Author(s):  
K. J. Waldron
Keyword(s):  
Reference List ◽  
Central Feature ◽  
Coordination Problem ◽  
Technical Problems ◽  
Vehicle Type ◽  
Variable Configuration ◽  
And Control ◽  
Wheeled Vehicles ◽  
Coordination And Control ◽  
Principal Elements

Research on walking vehicles and variable configuration wheeled vehicles is reviewed. The central feature of the vehicles discussed is terrain adaptive capability. The principal elements of the technical problems of coordination and control are discussed for each vehicle type. Examples of each vehicle type are discussed and an extensive reference list is provided. Although the article is primarily a review article, it contains a new discussion of the coordination problem of robotic mechanisms.

Will Routine Annual Influenza Prevention and Control Systems Serve the United States Well in a Pandemic?

2009 ◽  
Vol 3 (S2) ◽  
pp. S160-S165 ◽  
Author(s):  
Jeanne S. Ringel ◽  
Melinda Moore ◽  
John Zambrano ◽  
Nicole Lurie
Keyword(s):  
Public Health ◽  
United States ◽  
Prevention And Control ◽  
The United States ◽  
Qualitative Assessment ◽  
Full Potential ◽  
Pandemic Preparedness ◽  
The Public ◽  
Influenza Prevention ◽  
And Control

ABSTRACTObjective: To assess the extent to which the systems in place for prevention and control of routine annual influenza could provide the information and experience needed to manage a pandemic.Methods: The authors conducted a qualitative assessment based on key informant interviews and the review of relevant documents.Results: Although there are a number of systems in place that would likely serve the United States well in a pandemic, much of the information and experience needed to manage a pandemic optimally is not available.Conclusions: Systems in place for routine annual influenza prevention and control are necessary but not sufficient for managing a pandemic, nor are they used to their full potential for pandemic preparedness. Pandemic preparedness can be strengthened by building more explicitly upon routine influenza activities and the public health system’s response to the unique challenges that arise each influenza season (eg, vaccine supply issues, higher than normal rates of influenza-related deaths). (Disaster Med Public Health Preparedness. 2009;3(Suppl 2):S160–S165)

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