DocumentCode
393711
Title
Heading control model of a center-articulated micro-tunneling robot
Author
Yoshida, Koich ; Awata, Teruhisa
Volume
4
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
2418
Abstract
This paper describes a modeling method for the heading control of a center-articulated micro-tunneling robot developed with a view to realising an autonomous navigation system. The method features a nonholonomic constraint model on the moving direction of the machine head to provide more explicit modeling of turning behavior. The effectiveness of the proposed model is demonstrated by experimental results obtained using an actual tunneling robot.
Keywords
computerised navigation; excavators; mobile robots; motion control; autonomous navigation system; center-articulated microtunneling robot; heading control model; nonholonomic constraint model; turning behavior; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195789
Filename
1195789
Link To Document