Design and Steering Control of a Center-Articulated Mobile Robot Module | Zendy

Mehdi Delrobaei | Zendy; Kenneth McIsaac | Zendy

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Design and Steering Control of a Center-Articulated Mobile Robot Module

Author(s) -

Mehdi Delrobaei,

Kenneth McIsaac

Publication year - 2011

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2011/621879

Subject(s) - computer science , modular design , merge (version control) , mobile robot , actuator , robot , robotics , control engineering , artificial intelligence , simulation , engineering , information retrieval , operating system

This paper discusses the design and steering control for anautonomous modular mobile robot. The module is designedwith a center-articulated steering joint to minimize the numberof actuators used in the chain. We propose a feedback controllaw which allows steering between configurations in the planeand show its application as a parking control to dock modulestogether. The control law is designed by Lyapunov techniquesand relies on the equations of the robot in polar coordinates.A set of experiments have been carried out to show theperformance of the proposed approach. The design is intendedto endow individual wheeled modules with the capability tomerge and make a single snake-like robot to take advantageof the benefits of modular robotics

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