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Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain

Published online by Cambridge University Press:  31 August 2016

He Xu ,
X. Z. Gao ,
Yan Xu ,
Kaifeng Wang ,
Hongpeng Yu ,
Zhen Li ,
Khalil Alipour  and
Ozoemena Anthony Ani
He Xu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: railway_dragon@163.com, 772898067@qq.com, yhp_1990@163.com, heulz@vip.qq.com
X. Z. Gao
Affiliation:
Department of Electrical Engineering and Automation, Aalto University School of Electrical Engineering, Aalto, 02130, Finland. E-mail: xiao.z.gao@gmail.com
Kaifeng Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: railway_dragon@163.com, 772898067@qq.com, yhp_1990@163.com, heulz@vip.qq.com
Hongpeng Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: railway_dragon@163.com, 772898067@qq.com, yhp_1990@163.com, heulz@vip.qq.com
Zhen Li
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: railway_dragon@163.com, 772898067@qq.com, yhp_1990@163.com, heulz@vip.qq.com
Khalil Alipour
Affiliation:
Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran. E-mail: k.alipour@ut.ac.ir
Ozoemena Anthony Ani
Affiliation:
Department of Agric. & Bio-resources Engineering, Faculty of Engineering, University of Nigeria, Nsukka 41001, Enugu State, Nigeria. E-mail: ozoemena.ani@unn.edu.ng
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Summary

For wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain has rarely been considered. This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make the best of the rest of the driving force, robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure. Thirdly, sliding mode control based on back-stepping is adopted to enable the robot achieve continuous trajectory tracking with visual feedback. Finally, the efficacy of the presented approach is verified by simulations and experiments.

Keywords

Continuous mobilityRough terrainVisual feedbackWheeled mobile robotsDriving failureConfiguration transformation

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Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 2076 - 2096
Copyright
Copyright © Cambridge University Press 2016 

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