DocumentCode
2523079
Title
Basic movements of a nonholonomic wheel- based pole climbing robot
Author
Mahdavi, Sara ; Noohi, Ehsan ; Ahmadabadi, Majid Nili
Author_Institution
Univ. of Tehran, Tehran
fYear
2007
fDate
4-7 Sept. 2007
Firstpage
1
Lastpage
6
Abstract
Three basic movements for path planning of a nonholonomic wheel-based pole climbing robot, UT-PCR, are proposed. In order to simplify the system equations, the state equations are first derived in the velocity space in which the nonholonomic constraint is easily shown. Subsequently, according to the derived equations, three basic movements are defined and a suitable control method is proposed. Finally, the proposed movements and the control method are tested via simulations.
Keywords
mobile robots; path planning; UT-PCR basic movement; nonholonomic wheel-based pole climbing robot; path planning; state equation; Cleaning; Climbing robots; Equations; Mathematical model; Mobile robots; Orbital robotics; Path planning; Road transportation; Robot kinematics; Wheels; Basic Movements; Index Terms-Climbing Robot; Nonholonomic Systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location
Zurich
Print_ISBN
978-1-4244-1263-1
Electronic_ISBN
978-1-4244-1264-8
Type
conf
DOI
10.1109/AIM.2007.4412570
Filename
4412570
Link To Document