文章基本信息

标题：Path Following for Two HOG Wheels Mobile Robot
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作者：Paweł Joniak ; Robert Muszyński
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：2
页码：75
DOI：10.14313/JAMRIS_2-2017/19
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：To apply a spinning hemisphere as a mobile robot driveis an unconven􀆟onal idea. Equipping a mobile robot withtwo such hemispheres brings to life a device with absolutelynovel proper􀆟es. In this paper we derive kinema􀆟csmodels of a mobile robot with two driving hemispheres,analyse shortly their proper􀆟es, and adopt a control algorithmdesigned to follow a path. There are two kinema􀆟cs models presented: the full model of the originalsystem, and the model of the simplified system, equivalentto the original one. The second model is expressedin two different coordinate systems – the later allowingfor the applica􀆟on of known control algorithms to drivethe robot. The performance of the analysed algorithm isillustrated by computer simula􀆟ons.
关键词：Hemispherical Omnidirec􀆟onal Gimbaled;wheel; hemispheres; mobile robot; path following