- Title
- A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments
- Creator
- Percy, Andrew; Spark, Ian
- Date
- 2010
- Type
- Text; Journal article
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/73636
- Identifier
- vital:7087
- Identifier
-
https://doi.org/10.1017/S0263574710000317
- Identifier
- ISSN:0263-5747
- 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.
- Relation
- Robotica Vol. 29, no. 3 (2010), p. 471-482
- Rights
- Copyright Cambridge University Press
- Rights
- Open Access
- Rights
- This metadata is freely available under a CCO license
- Subject
- Snake-like robot; Control system 4WD-4WS; Cooperative redundancy; 0801 Artificial Intelligence and Image Processing; 0906 Electrical and Electronic Engineering; 0913 Mechanical Engineering
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