Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection
| dc.contributor.author | Douadi, Lounis | |
| dc.contributor.author | Spinello, Davide | |
| dc.contributor.author | Gueaieb, Wail | |
| dc.date.accessioned | 2015-05-25T15:38:50Z | |
| dc.date.available | 2015-05-25T15:38:50Z | |
| dc.date.created | 2014-09 | |
| dc.date.issued | 2014-09 | |
| dc.description.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. | |
| dc.identifier.doi | 10.1115/1.4027303 | |
| dc.identifier.uri | http://hdl.handle.net/10393/32411 | |
| dc.identifier.uri | http://dx.doi.org/10.1115/1.4027303 | |
| dc.title | Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection | |
| dc.type | Article |
