Design and Control of a Four Steered Wheeled Mobile Robot

Author

Lauria, Michel ; Nadeau, Isabelle ; Lepage, Pierre ; Morin, Yan ; Giguere, Patrick ; Gagnon, Frederic ; Letourneau, Dominic ; Michaud, Francois

Author_Institution

Dept. of Electr. Eng. & Comput. Eng., Sherbrooke Univ., Que.

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

4020

Lastpage

4025

Abstract

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel´s geometrical properties. Finally, we describe AZIMUT-2´s two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

Keywords

mobile robots; position control; robot kinematics; steering systems; AZIMUT-2; four steered wheeled mobile robot; hyper-motorization; kinematical model; maneuverability; mobility; omnidirectional nonholonomic robot; steerability; Control systems; Design engineering; Intelligent robots; Leg; Mobile robots; Prototypes; Robot kinematics; Rubber; Strips; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347877

Filename

4153280