The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper suggests a new performance metric for a mobile platform called as a posture variation index (PVI) to evaluate the smoothness of its movement, which is an important factor to predict undesired oscillations or shocks on a mobile platform while traveling on rugged terrain. The PVI consists of the height and pitch angle variations of center of mass of a mobile platform. By using the PVI, the...
This paper presents a new mobile robotic platform (R-Mo) which can reduce unexpected variations in height as well as pitch angle of its main body while traversing rough terrains. As a measure for the smooth movement of mobile platform, the variations in height and pitch angle are chosen in this study. Then, the kinematic analysis on the Rocker-Bogie mechanism is carried out to investigate its variations...
The ability to overcome rough terrain is a main issue of mobile robots. However, as the speed of a robot increases, stability becomes another issue because it is directly related to the mobility of the robot. Without stability, the robot is exposed to risks of overturn. Therefore, a mobile robot needs to be not only maneuverable but also stable. We present a new mobile platform named “Rocker-Pillar”...
This paper presents a practical approach for a nonlinear model predictive control scheme with collision avoidance which is implemented on a mobile robot with two differential wheels. In model predictive control, also called receding horizon control, cost function is formulated to minimize tracking error. The optimal control input is solving a discrete nonlinear optimization problem over a pre-described...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.