Design, control, and performance of the 'weed' 6 wheel robot in the UK MOD grand challenge

    Authors

    A. Nagendran; W. Crowther; M. Turner; A. Lanzon;R. Richardson

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    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

    WOS:000329155000001

    ISSN

    0169-1864

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