Hostname: page-component-586b7cd67f-l7hp2 Total loading time: 0 Render date: 2024-11-25T07:52:09.021Z Has data issue: false hasContentIssue false
  • English
  • Français

Effects of terrain irregularities on wheeled mobile robot

Published online by Cambridge University Press:  19 February 2003

Maria Prado ,
Antonio Simón ,
Ana Pérez  and
Francisco Ezquerro
Maria Prado
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)[email protected]
Antonio Simón
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)[email protected]
Ana Pérez
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)[email protected]
Francisco Ezquerro
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)[email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

The influence of ground irregularities on the behavior of a wheeled mobile robot (WMR) navigating on uneven surfaces is addressed. The paper studies the vibratory movements induced on the body of the WMR, in order to analyze its ability for carrying out on-board tasks, and on the accuracy of the data collected by its external sensorial systems. The adhesion capability of the wheels of the WMR on this uneven terrain is also studied, since it conditions the braking, traction and steering performance. The method is applied to the WMR RAM.

Keywords

Mobile robotRide analysisUneven terrainExternal sensorsDynamic performance
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 143 - 152
Copyright
© 2003 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)