Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection

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Title: Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection
Authors: Douadi, Lounis
Spinello, Davide
Gueaieb, Wail
Date: 2014-09
Abstract: In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization.
URL: http://hdl.handle.net/10393/32411
http://dx.doi.org/10.1115/1.4027303
DOI: 10.1115/1.4027303
CollectionScience informatique et génie électrique // Electrical Engineering and Computer Science
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