On Supervisory Control of Mobile Platform on Four Swivel Wheels

Авторы: Martynenko Yu G., Mitrofanov I.E., Pis’mennaya E.V., Formalskii A.M.
Журнал: Journal of Computer and Systems Sciences International, издательство Maik Nauka/Interperiodica Publishing (Russian Federation)
Том: 50
Номер: 2
Год издания: 2011
Первая страница: 325
Последняя страница: 335
DOI: 10.1134/S1064230711020109
Аннотация: A mobile robotic platform with four driving swivel wheels, whose centers are situated at the vertices of a rectangle, is considered. Each of the wheels can rotate about its horizontal axis in a common way, and the plane of the wheel situated in a fork can turn with respect to the platform about the perpendicular axis. These turns and rotations of four wheels are performed using eight drives. The platform can move, perform translational and rotational motion without wheel slip if and only if the fork orientation and wheel angular velocities satisfy certain relations. This study presents the relations to which program values of fork turning angles and wheel angular velocities calculated for automatic control of the platform motion or operator control should satisfy. The scheme of supervisory (with an operator) control of the platform motion and its virtual analogue are described.
Добавил в систему: Формальский Александр Моисеевич

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