Maneuver algorithm for mobile robot with four steered propulsive wheels

  • Authors:

  • He Xu;Wei da Wang;Marie Bernard Sidibe

  • Affiliations:

  • School of Mechanics and Electronics Engineering, Harbin Engineering University, Harbin, China and Harbin Institute of Technology, Harbin, China;School of Mechanics and Electronics Engineering, Harbin Institute of Technology, Harbin, China;School of Mechanics and Electronics Engineering, Harbin Institute of Technology, Harbin, China

  • Venue:
  • ISPRA'07 Proceedings of the 6th WSEAS International Conference on Signal Processing, Robotics and Automation
  • Year:
  • 2007

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Abstract

The algorithm formula in explicit format for the maneuver of wheeled mobile robot (WMR) with four steered independently driven wheels (4WS4WD) is rarely discussed. Based on the constraints of pure rolling and non slip, the existence of ICR (Instantaneous Center of Rotation) has been proofed toward this class of robots. A generic maneuver algorithm based on ICR (including the direction of rotation) has been presented in explicit format. And a generic maneuver algorithm with constraints has also been investigated explicitly to limit the orientation range of steering wheels. Several typical maneuver modes with rotation direction have been drawn from the generic maneuver algorithm mentioned above. Results from simulation and tests are presented to demonstrate the feasibility of proposed algorithms.