DocumentCode
2197236
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
fYear
2006
fDate
17-20 Dec. 2006
Firstpage
1517
Lastpage
1522
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ROBIO.2006.340154
Filename
4142091
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