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In this paper, we develop a zero-moment-point and friction force calculation framework for wheeled mobile robots on uneven terrain to evaluate roll-over and slippage tendency of the given trajectory. The proposed framework using dynamic constraints and passive decomposition has advantages of low computations and implementation cost. Simulation results using CarSim is provided to analyze the performance...
Lawn mower trajectory tracking by a wheeled mobile robot, which is a nonholonomic system, is a challenging task. The study of this kind of trajectory is essential for precise survey, lawn mowing and other applications. Lawn mower trajectories can be generated by various ways. A continuous function of lawn mower path is an approximated lawn mower and may not be useful for prospective applications....
In this paper, an energetic swarm controller is developed that controls the swarm temperature, swarm centre position, and swarm potential energy. A sliding control approach is combined with a control allocation process to solve the overactuated control problem. The control allocation problem is solved using nonlinear programming software which allows the optimization problem to be solved with input...
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