Title :
Proportional heading control for planar navigation: The Chaplygin beanie and fishlike robotic swimming
Author :
Kelly, Scott David ; Fairchild, M.J. ; Hassing, P.M. ; Tallapragada, Pavankumar
Author_Institution :
Dept. of Mech. Eng. & Eng. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA
Abstract :
We present a simple method for the coupled propulsion and steering of certain single-input planar vehicles. We demonstrate the applicability of this method to two distinct systems, one a hybridization of canonical systems from the mechanics literature and the other a fishlike robot. The first system is examined analytically, the second experimentally.
Keywords :
marine propulsion; marine vehicles; mobile robots; steering systems; Chaplygin beanie; canonical system hybridization; coupled propulsion; fishlike robotic swimming; planar navigation; proportional heading control; single-input planar vehicle steering; Closed loop systems; Oscillators; Propellers; Robots; Rotors; Vehicles; Wheels;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315688
