Motion Planning & Control of Skid-Steered Mobile Robot.
Saved in:
| Title: | Motion Planning & Control of Skid-Steered Mobile Robot. |
|---|---|
| Authors: | Mohani, Syed Sheraz1 smohani@iqra.edu.pk, Abbasi, Abdul Rehman2, Ilyas, Hafiz Muneeb2, Jamal, Ahsan1, Sheikh, Hassaan Muhammad1, Hafiz, Syed Rameez Hussain1 |
| Source: | Asian Journal of Engineering, Sciences & Technology (AJEST). Mar2016, Vol. 6 Issue 1, p9-13. 5p. |
| Subjects: | Mobile robots, Computational steering (Computer science), Prototypes, Motion control devices, Computer-aided design |
| Abstract: | This paper reports the design; development and evaluation of a prototype four wheeled Skid-Steered Mobile Robot to execute in two different motion schemes. First, different types of locomotion systems used for mobile robots are compared and their pros and cons are presented. Then the mechanism designed for the prototype wheeled SSMR is described with the aid of a CAD model. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Finally, the results of field testing of the actual robot are presented and the behavior of wheeled Skid-Steered Mobile Robots in presence of slippage is discussed. [ABSTRACT FROM AUTHOR] |
| Copyright of Asian Journal of Engineering, Sciences & Technology (AJEST) is the property of Iqra University and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
|---|---|
| Header | DbId: egs DbLabel: Engineering Source An: 119379629 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
| IllustrationInfo | |
| Items | – Name: Title Label: Title Group: Ti Data: Motion Planning & Control of Skid-Steered Mobile Robot. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Mohani%2C+Syed+Sheraz%22">Mohani, Syed Sheraz</searchLink><relatesTo>1</relatesTo><i> smohani@iqra.edu.pk</i><br /><searchLink fieldCode="AR" term="%22Abbasi%2C+Abdul+Rehman%22">Abbasi, Abdul Rehman</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Ilyas%2C+Hafiz+Muneeb%22">Ilyas, Hafiz Muneeb</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Jamal%2C+Ahsan%22">Jamal, Ahsan</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Sheikh%2C+Hassaan+Muhammad%22">Sheikh, Hassaan Muhammad</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Hafiz%2C+Syed+Rameez+Hussain%22">Hafiz, Syed Rameez Hussain</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Engineering%2C+Sciences+%26+Technology+%28AJEST%29%22">Asian Journal of Engineering, Sciences & Technology (AJEST)</searchLink>. Mar2016, Vol. 6 Issue 1, p9-13. 5p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Mobile+robots%22">Mobile robots</searchLink><br /><searchLink fieldCode="DE" term="%22Computational+steering+%28Computer+science%29%22">Computational steering (Computer science)</searchLink><br /><searchLink fieldCode="DE" term="%22Prototypes%22">Prototypes</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+control+devices%22">Motion control devices</searchLink><br /><searchLink fieldCode="DE" term="%22Computer-aided+design%22">Computer-aided design</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This paper reports the design; development and evaluation of a prototype four wheeled Skid-Steered Mobile Robot to execute in two different motion schemes. First, different types of locomotion systems used for mobile robots are compared and their pros and cons are presented. Then the mechanism designed for the prototype wheeled SSMR is described with the aid of a CAD model. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Finally, the results of field testing of the actual robot are presented and the behavior of wheeled Skid-Steered Mobile Robots in presence of slippage is discussed. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Asian Journal of Engineering, Sciences & Technology (AJEST) is the property of Iqra University and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
| PLink | https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=119379629 |
| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 5 StartPage: 9 Subjects: – SubjectFull: Mobile robots Type: general – SubjectFull: Computational steering (Computer science) Type: general – SubjectFull: Prototypes Type: general – SubjectFull: Motion control devices Type: general – SubjectFull: Computer-aided design Type: general Titles: – TitleFull: Motion Planning & Control of Skid-Steered Mobile Robot. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Mohani, Syed Sheraz – PersonEntity: Name: NameFull: Abbasi, Abdul Rehman – PersonEntity: Name: NameFull: Ilyas, Hafiz Muneeb – PersonEntity: Name: NameFull: Jamal, Ahsan – PersonEntity: Name: NameFull: Sheikh, Hassaan Muhammad – PersonEntity: Name: NameFull: Hafiz, Syed Rameez Hussain IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 03 Text: Mar2016 Type: published Y: 2016 Identifiers: – Type: issn-print Value: 20771142 Numbering: – Type: volume Value: 6 – Type: issue Value: 1 Titles: – TitleFull: Asian Journal of Engineering, Sciences & Technology (AJEST) Type: main |
| ResultId | 1 |
