WMR Kinematic Control Using Underactuated Mechanisms for Goal Direction and Evasion

  1. Reyes-Muñoz, Jorge U.
  2. Martínez-García, Edgar A.
  3. Rodríguez-Jorge, Ricardo
  4. Torres-Córdoba, Rafael
Libro:
Kinematics

Editorial: IntechOpen

ISBN: 978-953-51-3687-3,  978-953-51-3688-0

Año de publicación: 2017

Tipo: Capítulo de Libro

DOI: 10.5772/INTECHOPEN.70811 GOOGLE SCHOLAR lock_openAcceso abierto editor

Resumen

This work presents the mechanical design and the kinematic navigation control system for a tricycle-wheeled robot (one drive-steer and two lateral fixed passive) with two underactuated mechanisms: a global compass and local evasive compass. The proposed goal-reference mechanism is inspired by the ancient Chinese south-seeking chariot (c. 200–265 CE) used as a navigation compass. The passive lateral wheels transmit an absolute angle from its differential speeds to automatically steer the front wheel. An obstacle-evasive compass mechanism is commutated for steering control when detecting nearby obstacles. The absolute and local compass mechanisms commutate each other to control to the robot’s steering wheel to reach a goal while avoiding collisions. A kinematic control law is described in terms of the robot’s geometric constraints and is combined with a set of first-order partial derivatives that allows interaction between the global and local steering mechanisms. Animated simulations and numerical computations about the robot’s mechanisms and trajectories in multi-obstacle scenarios validate the proposed kinematic control system and its feasibility.

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