Modelling and control of a six-wheeled autonomous robot

Author

Moore, Kevin L. ; Davidson, Morgan ; Bahl, Vikas ; Rich, Shayne ; Jirgal, Stephan

Author_Institution

Center for Self-Organ. & Intelligent Syst., Utah State Univ., Logan, UT, USA

Volume

3

fYear

2000

fDate

2000

Firstpage

1483

Abstract

We present a vehicle-level control algorithm for a unique “omnidirectional” robot. The vehicle has six “smart wheels”, each of which can be independently controlled to a prescribed drive speed and steering angle. Starting from Newtonian mechanics, a dynamic model of this vehicle is derived. Using this model it is possible to develop an exact feedback linearization controller for the vehicle. Simulations and experimental results confirm the validity of the analysis and controller design

Keywords

control system synthesis; feedback; linearisation techniques; mobile robots; position control; robot dynamics; velocity control; Newtonian mechanics; dynamic model; feedback; linearization; omnidirectional mobile robot; six-wheeled autonomous robot; smart wheels; speed control; steering angle control; Control systems; Intelligent robots; Intelligent vehicles; Linear feedback control systems; Mobile robots; Motion control; Robot control; Vehicle dynamics; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.879446

Filename

879446