TY - GEN
T1 - Design and implementation of a 4WS4WD mobile robot and its control applications
AU - Lin, Chih Jui
AU - Hsiao, Su Ming
AU - Wang, Ying Hao
AU - Yeh, Cheng Hao
AU - Huang, Chien Feng
AU - Li, Tzuu Hseng S.
PY - 2013
Y1 - 2013
N2 - 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).
AB - 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).
UR - http://www.scopus.com/inward/record.url?scp=84887452635&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887452635&partnerID=8YFLogxK
U2 - 10.1109/ICSSE.2013.6614666
DO - 10.1109/ICSSE.2013.6614666
M3 - Conference contribution
AN - SCOPUS:84887452635
SN - 9781479900091
T3 - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
SP - 235
EP - 240
BT - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
T2 - IEEE International Conference on System Science and Engineering, ICSSE 2013
Y2 - 4 July 2013 through 6 July 2013
ER -