Paper Title:
Motion Planning of Wheeled Mobile Robot Driven by Differential Wheels
  Abstract

This paper studies the problem of motion planning of wheeled mobile robot (WMR), which is driven by double wheels separately. It mainly accomplish the motion planning of WMR by taking center of one of double wheels as a base point, and also carry out this problem by traditional method, which takes the midpoint of interval between two wheels as a base point. Besides, these two motion planning methods are compared. Experimental results show that the first motion planning method is simply controlled, saves much computer time and it establishes the foundation to solve the problem of real time control to WMR.

  Info
Periodical
Key Engineering Materials (Volumes 392-394)
Edited by
Guanglin Wang, Huifeng Wang and Jun Liu
Pages
777-780
DOI
10.4028/www.scientific.net/KEM.392-394.777
Citation
Z. M. Wang, B. Yan, "Motion Planning of Wheeled Mobile Robot Driven by Differential Wheels", Key Engineering Materials, Vols. 392-394, pp. 777-780, 2009
Online since
October 2008
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Zhen Zhong Wang, Yin Biao Guo
Abstract:For precision grinding, especially the aspheric grinding, the vibrations of wheel and workpiece have great impact on workpiece accuracy and...
399
Authors: Yan Ming Lu
Chapter 2: Simulation and Engineering Optimization
Abstract:As to spiral groove grinding, a formed wheel was needed to be designed and manufactured conventionally based on envelope theory, and then...
207
Authors: Hai Bo Tian, Zong De Fang, Fan Jun Meng, Xiao Fang Yang
Chapter 1: Computer-Aided Manufacturing
Abstract:Obstacle negotiation capability is important to a mobile robot. A wheel-legged robot with symmetrical structure was presented It has four...
183
Authors: Xu Guang Zhou, Qiu Sheng Yan, Jue Dai, Ling Ye Kong
Chapter 3: Materials Forming, Machining and Joining
Abstract:It is an important method to machine revolution aspheric with Arc Envelope Grinding Method(AEGM). In this article, the relationship between...
1202
Authors: Da Wei Jin, Jian Qiao Li, Shi Chao Fan, Hao Li, Yang Wang
Chapter 2: Applied Mechanics and Mechanical Engineering
Abstract:It is important to analyze mechanical relationship between lunar wheel and lunar soil for studying passing ability of regolith in lunar soil....
211