• DocumentCode
    2377808
  • Title

    Maneuvering Strategies for Four-Wheel Drive, Four-Wheel Steer Mobile Robots Using Curvatures Based on Weingarten-Maps

  • Author

    Yalcin, M. Kursat ; Yesiloglu, S. Murat ; Dal, Mustafa ; Temeltas, Hakan

  • Author_Institution
    Dept. of Electr. Eng., Istanbul Tech. Univ.
  • fYear
    2006
  • fDate
    6-10 Nov. 2006
  • Firstpage
    4148
  • Lastpage
    4152
  • Abstract
    Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach
  • Keywords
    matrix algebra; mobile robots; robot kinematics; Weingarten-maps; four-wheel drive; four-wheel steer mobile robots; instantaneous center of rotation; kinematical model; maneuvering strategies; multiple manipulators; Automobiles; Kinematics; Manipulators; Mobile robots; Shape; Stability; Trajectory; Vehicles; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
  • Conference_Location
    Paris
  • ISSN
    1553-572X
  • Print_ISBN
    1-4244-0390-1
  • Type

    conf

  • DOI
    10.1109/IECON.2006.347806
  • Filename
    4153694
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2377808