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control system 4wd-4ws

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A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments
Andrew Percy, Ian Spark, Yousef Ibrahim, Leon Hardy
Journal:

Robotica / Volume 29 / Issue 3 / May 2011

Published online by Cambridge University Press:

21 July 2010, pp. 471-482
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This paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.