Title :
A six-wheeled omnidirectional autonomous mobile robot
Author :
Moore, Kevin L. ; Flann, Nicholas S.
Author_Institution :
Center for Self-Organizing & Intelligent Syst., Utah State Univ., Logan, UT, USA
fDate :
12/1/2000 12:00:00 AM
Abstract :
We describe a novel six-wheeled "omnidirectional" autonomous robot platform based on the USU smart wheel mobility capability concept and a distributed, multiprocessor vetronics system. We also describe the multiresolution behavior-generation strategy that was developed for these systems. A task decomposition approach using a grammar of primitive maneuvers is the basis for mission and path planning for the ODV robots, and a feedback linearization control strategy is used for path tracking. Simulations and experiments show the effectiveness of the mission planning and control strategies. Our ongoing and future research considers the mobility advantages offered by the ODV platform over more conventional systems and looks for ways to more tightly integrate the mission and path planner functions with the vehicle-level control systems to develop intelligent, reactive behaviors.
Keywords :
computerised navigation; feedback; linearisation techniques; mobile robots; path planning; autonomous mobile robot; feedback; grammar; linearization control; omnidirectional robot; path planning; six-wheeled robot; Intelligent robots; Intelligent systems; Intelligent vehicles; Land vehicles; Military computing; Mobile robots; Path planning; Remotely operated vehicles; Space technology; Wheels;
Journal_Title :
Control Systems, IEEE