Title

Design, Control, And Performance Of The Weed 6 Wheel Robot In The Uk Mod Grand Challenge

Keywords

autonomous ground vehicle; mobile robot design; robot control; robot motion analysis

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. © 2013 Taylor & Francis and The Robotics Society of Japan.

Publication Date

2-16-2014

Publication Title

Advanced Robotics

Volume

28

Issue

4

Number of Pages

203-218

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1080/01691864.2013.865298

Socpus ID

84891825157 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84891825157

This document is currently not available here.

Share

COinS