Papers by Keyword: Differential Drive

Abstract: A hybrid self-localization system for indoor mobile robot is proposed which is used to get the pose (position and orientation) of the mobile robot within the ultrasonic mesh area while avoiding the drift caused by the odometry system of the robot. This localization system consist of three subsystem-odometry, IMU and ultrasonic mesh. The IMU system is fitted within the robot chassis. The ultrasonic mesh is made by fixing various ultrasonic trans-receivers along two lines parallel to the x-axis at known locations. The IMU system is used to get the heading of the robot and the ultrasonic mesh is used to get the position of the robot, however the odometry system gives both position and orientation of the robot. A simple error threshold based algorithm is used to select the best value of robot pose from the sub-systems.

Abstract: Aimed at the contradiction between high frequency response and large flow of servo valve, the paper puts forward a 2D servo valve with differential drive based on magnetic controlled shape memory alloy(MSMA). To realize large flow control, the valve-spool is set of flow increasing orifice to match the flow increasing window on the valve-sleeve. The paper briefly introduces the structural features of the 2D servo valve and the working principle of the differential drive. It also has a simulation analysis on the magnetic field of the drive and the low field of the valve. Simulation results show that, the flow of the valve is linear with the input current.

Abstract: Monitoring and surveillance by means of mobile robots are of great importance in a number of various applications. The level of technology and science development is high enough to use robotic vehicle for monitoring in dangerous or hard-to-reach areas, for continuous surveillance of large industrial objects, in military purposes. The main problems in this area are navigation and control of vehicle. The majority of articles are dedicated to problems of motion control of wheeled mobile robots with two or three wheels [1-2]. As to four-wheeled mobile robots its kinematics and dynamics are considered in [3].