300043 Paper on Concept of Wheeled Mobile Robotics using Tricycle
23 Pages2747 Words165 Views
Concept of Wheeled Mobile (300043)
Added on 2020-05-28
300043 Paper on Concept of Wheeled Mobile Robotics using Tricycle
Concept of Wheeled Mobile (300043)
Added on 2020-05-28
ShareRelated Documents
1UNIVERSITY AFFILIATIONDEPARTMENT OR FACULTYCOURSE NAME & CODEStudent IDStudent Name% ContributionPROFESSOR (TUTOR)DATE OF SUBMISSION
2ABSTRACTThis paper seeks to review the concept of wheeled mobile robotics using the tricycle. Thetricycle is a three-wheeled vehicle that is able to move forward and back but it encounters alateral slip when it moves sideways. The tricycle, in a practical circumstance, encounters theground dynamics and hindrances such as friction. In this paper we shall analyze the kinematicmodel of the wheeled mobile robot using the tricycle as a case study. A simulation of thekinematic model of the robots is obtained from the MATLAB toolbox. The simulationdemonstrates different driving modes such as constant driving velocity and a constant steeringangle, constant driving velocity and a linearly changing steering angle, and the linearly changingdriving velocity with linearly changing steering angle (Giovanni, 2009). The three scenarios areanalyzed and discussed. Another simulation is done to view the localization of the tricycle-likemobile robot using a particle filter. The paper goes further to describe a path that the tricycletakes during operation to show how the different parameters are affected.
3TABLE OF CONTENTSABSTRACT...............................................................................................................................................2INTRODUCTION.....................................................................................................................................4RESULTS AND OBSERVATIONS.........................................................................................................8DISCUSSION..........................................................................................................................................20CONCLUSION........................................................................................................................................21REFERENCES........................................................................................................................................22
4INTRODUCTIONThe tricycle falls under the wheeled robotics in mobile robot locomotion. It is a combination of avariety of hardware and software components. It manages locomotion, sensing, control,reasoning, and communication. The tricycle is able to navigate through its environment while itmeasures properties of itself and the surrounding. It manages to generate the physical actions andhow the robot maps measurements into actions. A tricycle has three wheels; two rear wheels andone front wheel. The steering and power are provided through the front wheel and the controlvariables are the steering direction and the angular velocity of steering wheel (Dong-Sung, & etal., 2003). The ICC must lie on the line that passes through and it is orthogonal to the fixed rearwheels. When the steering wheel is set to an angle from the straight-line direction, the tricyclewill rotate with angular velocity about a point lying a distance R along the line perpendicular tothe passing through of the rear wheels. In a synchronous drive robot, each wheel is capable ofbeing driven and steered. The three steered wheels are arranged as vertices of an equilateral. Thewheel turn and drive in unison and this leads to a holonomic behavior. All the wheels turn inunison. The vehicle controls the direction in which the wheels point and the rate at which theyroll. At such a point, all the wheels remain parallel and the synchronous drive always rotatesabout the center of the robot (Johann, n.d.). The synchro drive robot has the ability to control theorientation of their pose directly. In the kinematic modelling, the tricycle falls underconfiguration space dim C=4. The kinematic model of the wheeled mobile robot provides all thefeasible directions for the instantaneous motion. It describes the relation between the velocityinput commands and the derivatives of generalized coordinates (a differential model). Themechanically more complex, steered and driven conventional wheel is utilized on Neptune,Hero, and Avatar. These three robots have a tricycle wheel arrangement; the front wheel and it isdriven with two rear wheels are at a fixed parallel orientation and are undriven (Nilanjan, & etal., 2004). The robots in mobile locomotion communicate with each other or with an outside operator. Inthis assignment, one of the key attributes of the tricycle is the kinematics. It is a study of themathematics of motion albeit the consideration of the forces that affect the motion. Thekinematics model deals with the geometric relationships that govern the system. It deals with therelationship between control parameters and the behavior of a system (Kanayama, & et al, n.d).
5Figure 1 A moving robot in the environment with laser sensor and landmarksIt is possible for the tricycle to move forward or back but when it attempts to move to the right orto the left, it tends to slip. No slip occurs in the orthogonal direction of rolling. No translation slip occurs between the wheel and the floor in pure rolling (Vrunda, & et al, 2009). At most, one
6steering link per wheel with the steering axis perpendicular to the floor. For the differential drive,the posture of the robot,While the control input is obtained as,In a real-world situation, the posture kinematic model is analyzed as,(i)Relationship between the control input and the speed of the wheels(ii)Kinematic equation(iii)Non-holonomic constraintWhere H is a unit vector orthogonal to the plane of wheelsThe instantaneous center of rotation,
End of preview
Want to access all the pages? Upload your documents or become a member.
Related Documents
Kinematic Modelling Equations (Paper)lg...
|32
|3444
|186
Kinematic Modelling of a Tricycle Robots Movementlg...
|26
|3301
|2504
Mobile Robotics : Assignmentlg...
|16
|2041
|182