Title :
Path planning of the Nonholonomic Pole Climbing Robot UT-PCR
Author :
Mahdavi, Sara ; Noohi, Ehsan ; Ahmadabadi, Majid Nili
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Tehran, Tehran
Abstract :
This paper deals with the path planning of the nonholonomic pole climbing robot, UT-PCR. The state equations in the velocity space are first derived in which the nonholonomic constraint is easily shown. Subsequently, according to the derived equations and considering the nonholonomic constraint, canonical paths are defined and a suitable control method is obtained. Finally, the practicality of the proposed method is tested via simulation on the model of the UT-PCR.
Keywords :
mobile robots; motion control; path planning; canonical paths; nonholonomic constraint; nonholonomic pole climbing robot UT-PCR; path planning; state equations; Climbing robots; Controllability; Equations; Intelligent robots; Mobile robots; Motion control; Path planning; Robot kinematics; Springs; Wheels; Canonicalpath; Climbing robot; Nonholonomic systems; Path planning;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340154
