Title
Design, control, and performance of the 'weed' 6 wheel robot in the UK MOD grand challenge
Abbreviated Journal Title
Adv. Robot.
Keywords
autonomous ground vehicle; mobile robot design; robot control; robot; motion analysis; Robotics
Abstract
A new locomotion method for unmanned (autonomous) ground vehicles (UGV) is proposed based around six independently driven wheels mounted on three separate modules. Each module is attached to the overall robot via a pivot point and capable of independently controlling its orientation and velocity. This configuration allows the UGV to perform maneuvers conventional vehicles cannot perform, and in particular to control the body orientation separately from the movement direction. The locomotion method is mathematically analyzed to develop appropriate control algorithms and to demonstrate the vehicle performance criteria. A vehicle was constructed according to the proposed configuration and experimentally tested in the UK Ministry Of Defense grand challenge. The performance of the developed locomotion schemes helped the robot make it to the finale of the competition.
Journal Title
Advanced Robotics
Volume
28
Issue/Number
4
Publication Date
1-1-2014
Document Type
Article
Language
English
First Page
203
Last Page
218
WOS Identifier
ISSN
0169-1864
Recommended Citation
"Design, control, and performance of the 'weed' 6 wheel robot in the UK MOD grand challenge" (2014). Faculty Bibliography 2010s. 5644.
https://stars.library.ucf.edu/facultybib2010/5644
Comments
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