Title :
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
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;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879446
