Design and Steering Control of a Center-Articulated Mobile Robot Module
This paper discusses the design and steering control for an autonomous modular mobile robot. The module is designed with a center-articulated steering joint to minimize the number of actuators used in the chain. We propose a feedback control law which allows steering between configurations in the pl...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/621879 |
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| _version_ | 1850178426227392512 |
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| author | Mehdi Delrobaei Kenneth A. McIsaac |
| author_facet | Mehdi Delrobaei Kenneth A. McIsaac |
| author_sort | Mehdi Delrobaei |
| collection | DOAJ |
| description | This paper discusses the design and steering control for an
autonomous modular mobile robot. The module is designed
with a center-articulated steering joint to minimize the number
of actuators used in the chain. We propose a feedback control
law which allows steering between configurations in the plane
and show its application as a parking control to dock modules
together. The control law is designed by Lyapunov techniques
and relies on the equations of the robot in polar coordinates.
A set of experiments have been carried out to show the
performance of the proposed approach. The design is intended
to endow individual wheeled modules with the capability to
merge and make a single snake-like robot to take advantage
of the benefits of modular robotics. |
| format | Article |
| id | doaj-art-bbe697feb3544ab0acfa098863ed646d |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-bbe697feb3544ab0acfa098863ed646d2025-08-20T02:18:43ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/621879621879Design and Steering Control of a Center-Articulated Mobile Robot ModuleMehdi Delrobaei0Kenneth A. McIsaac1Department of Electrical and Computer Engineering, The University of Western Ontario, London, ON, N6A 5B9, CanadaDepartment of Electrical and Computer Engineering, The University of Western Ontario, London, ON, N6A 5B9, CanadaThis paper discusses the design and steering control for an autonomous modular mobile robot. The module is designed with a center-articulated steering joint to minimize the number of actuators used in the chain. We propose a feedback control law which allows steering between configurations in the plane and show its application as a parking control to dock modules together. The control law is designed by Lyapunov techniques and relies on the equations of the robot in polar coordinates. A set of experiments have been carried out to show the performance of the proposed approach. The design is intended to endow individual wheeled modules with the capability to merge and make a single snake-like robot to take advantage of the benefits of modular robotics.http://dx.doi.org/10.1155/2011/621879 |
| spellingShingle | Mehdi Delrobaei Kenneth A. McIsaac Design and Steering Control of a Center-Articulated Mobile Robot Module Journal of Robotics |
| title | Design and Steering Control of a Center-Articulated Mobile Robot Module |
| title_full | Design and Steering Control of a Center-Articulated Mobile Robot Module |
| title_fullStr | Design and Steering Control of a Center-Articulated Mobile Robot Module |
| title_full_unstemmed | Design and Steering Control of a Center-Articulated Mobile Robot Module |
| title_short | Design and Steering Control of a Center-Articulated Mobile Robot Module |
| title_sort | design and steering control of a center articulated mobile robot module |
| url | http://dx.doi.org/10.1155/2011/621879 |
| work_keys_str_mv | AT mehdidelrobaei designandsteeringcontrolofacenterarticulatedmobilerobotmodule AT kennethamcisaac designandsteeringcontrolofacenterarticulatedmobilerobotmodule |