Design and implementation of a 4WS4WD mobile robot and its control applications

Author

Chih-Jui Lin ; Su-Ming Hsiao ; Ying-Hao Wang ; Cheng-Hao Yeh ; Chien-Feng Huang ; Li, Tzuu-Hseng S.

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

fYear

2013

fDate

4-6 July 2013

Firstpage

235

Lastpage

240

Abstract

This paper mainly develops of a four-wheel steering and four-wheel drive (4WS4WD) mobile robot and examines its control applications. The 4WS4WD possesses the benefits of the 4WD structure and the advantages of a 4WS system, and has the better performance of lateral dynamics in comparison with traditional mobile robots. By handling the 4WS4WD mobile robot, the motion control, obstacle avoidance and control strategy are addressed in this paper. The robotic maneuver control for 4WS4WD mobile robot is firstly investigated. For obstacle avoidance, the dynamic window approach (DWA) is used to safely control the mobile robot. The A* algorithm is adopted to implement the path planning and mobile robot navigation system. The experimental results demonstrate that the realized mobile robot can successfully conquer many kinds of terrains and carry out all the tasks in the SKS Intelligent Security Robot Competition held in Taipei International Robot Show (TIROS).

Keywords

collision avoidance; mobile robots; motion control; robot dynamics; steering systems; wheels; 4WS4WD mobile robot navigation system; A* algorithm; SKS Intelligent Security Robot Competition; TIROS; Taipei International Robot Show; control applications; control strategy; dynamic window approach; four-wheel drive mobile robot; four-wheel steering mobile robot; lateral dynamics; motion control; obstacle avoidance; path planning system; robotic maneuver control; Collision avoidance; Mobile robots; Robot kinematics; Robot sensing systems; Security; 4WS4WD; A* algorithm; DWA; SKS intelligent security robot competition; obstacle avoidance; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

System Science and Engineering (ICSSE), 2013 International Conference on

Conference_Location

Budapest

ISSN

2325-0909

Print_ISBN

978-1-4799-0007-7

Type

conf

DOI

10.1109/ICSSE.2013.6614666

Filename

6614666