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

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

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).

原文English
主出版物標題ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
頁面235-240
頁數6
DOIs
出版狀態Published - 2013 十一月 18
事件IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary
持續時間: 2013 七月 42013 七月 6

出版系列

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

Other

OtherIEEE International Conference on System Science and Engineering, ICSSE 2013
國家Hungary
城市Budapest
期間13-07-0413-07-06

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • 引用此

    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. 於 ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings (頁 235-240). [6614666] (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). https://doi.org/10.1109/ICSSE.2013.6614666