DocumentCode
1869612
Title
Elementary mechanical analysis of obstacle crossing for wheeled vehicles
Author
Berkemeier, Matthew D. ; Poulson, Eric ; Groethe, Travis
Author_Institution
Autonomous Solutions Inc., Petersboro, UT
fYear
2008
fDate
19-23 May 2008
Firstpage
2319
Lastpage
2324
Abstract
In this paper we model a wheeled UGV in an elementary manner to determine the effect of obstacle height on major design parameters, such as wheel size, wheelbase, and center of mass height. We consider both static and dynamic modeling approaches and find that consideration of dynamics allows for more freedom in parameter choice.
Keywords
collision avoidance; mobile robots; remotely operated vehicles; dynamic modeling; elementary mechanical analysis; mass height; obstacle crossing; static modeling; wheel size; wheelbase; wheeled UGV; wheeled vehicle; Buildings; Land vehicles; Mobile robots; Remotely operated vehicles; Robotics and automation; Soil; Torque; USA Councils; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543560
Filename
4543560
Link To Document