Title :
Elementary mechanical analysis of obstacle crossing for wheeled vehicles
Author :
Berkemeier, Matthew D. ; Poulson, Eric ; Groethe, Travis
Author_Institution :
Autonomous Solutions Inc., Petersboro, UT
Abstract :
In this paper we model a wheeled UGV in an elementary manner to determine the effect of obstacle height on major design parameters, such as wheel size, wheelbase, and center of mass height. We consider both static and dynamic modeling approaches and find that consideration of dynamics allows for more freedom in parameter choice.
Keywords :
collision avoidance; mobile robots; remotely operated vehicles; dynamic modeling; elementary mechanical analysis; mass height; obstacle crossing; static modeling; wheel size; wheelbase; wheeled UGV; wheeled vehicle; Buildings; Land vehicles; Mobile robots; Remotely operated vehicles; Robotics and automation; Soil; Torque; USA Councils; Vehicle dynamics; Wheels;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543560
