Mobile robots are increasingly being used in high-risk, rough terrain situations, such as reconnaissance, safety and rescue applications, and planetary exploration. Ground tasks require mobile robots to navigate in highly challenging terrains with limited human supervision. In order to accomplish successfully these tasks, a higher degree of mobility is required ensuring, at the same time, the safety of the vehicle. In this paper, we present a mobile robot designed for missions planned on rough-terrains. Our vehicle features a four wheel drive independent steering system that allows the robot to perform maneuvers such as turn-on-the-spot and crab motion. It also employs a passive rocker-type suspension system improving the ability to climb up obstacles and traverse uneven terrain while ensuring good traction performance. An overview of modeling techniques is also presented for rover-like vehicles. First, a method for formulating a classical kinematic model of a rover on rough-terrain is presented. Next, a method for expressing a quasi-static model of forces acting on the vehicle is described. Note that quasi-static models are appropriate due to the relative low speed of those vehicles. These models can be used as a basis for advanced control and motion planning methods to improve mobility.
Dune: a Mobile Robot for Rough-Terrain Applications
MESSINA, Arcangelo;REINA, GIULIO
2007-01-01
Abstract
Mobile robots are increasingly being used in high-risk, rough terrain situations, such as reconnaissance, safety and rescue applications, and planetary exploration. Ground tasks require mobile robots to navigate in highly challenging terrains with limited human supervision. In order to accomplish successfully these tasks, a higher degree of mobility is required ensuring, at the same time, the safety of the vehicle. In this paper, we present a mobile robot designed for missions planned on rough-terrains. Our vehicle features a four wheel drive independent steering system that allows the robot to perform maneuvers such as turn-on-the-spot and crab motion. It also employs a passive rocker-type suspension system improving the ability to climb up obstacles and traverse uneven terrain while ensuring good traction performance. An overview of modeling techniques is also presented for rover-like vehicles. First, a method for formulating a classical kinematic model of a rover on rough-terrain is presented. Next, a method for expressing a quasi-static model of forces acting on the vehicle is described. Note that quasi-static models are appropriate due to the relative low speed of those vehicles. These models can be used as a basis for advanced control and motion planning methods to improve mobility.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
