Design and implementation of a 4WS4WD mobile robot and its control applications

Chih Jui Lin, Su Ming Hsiao, Ying Hao Wang, Cheng Hao Yeh, Chien Feng Huang, Tzuu Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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).

Original languageEnglish
Title of host publicationICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
Pages235-240
Number of pages6
DOIs
Publication statusPublished - 2013 Nov 18
EventIEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary
Duration: 2013 Jul 42013 Jul 6

Publication series

NameICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings

Other

OtherIEEE International Conference on System Science and Engineering, ICSSE 2013
CountryHungary
CityBudapest
Period13-07-0413-07-06

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Lin, C. J., Hsiao, S. M., Wang, Y. H., Yeh, C. H., Huang, C. F., & Li, T. H. S. (2013). Design and implementation of a 4WS4WD mobile robot and its control applications. In ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings (pp. 235-240). [6614666] (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). https://doi.org/10.1109/ICSSE.2013.6614666