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Author
dc.contributor.author
Tajti Ferenc
Author
dc.contributor.author
Kovács Bence
Author
dc.contributor.author
Szayer Géza
Author
dc.contributor.author
Korondi Péter
Author
dc.contributor.author
Székely Zoltán
Availability Date
dc.date.accessioned
2019-12-09T13:39:46Z
Availability Date
dc.date.available
2019-12-09T13:39:46Z
Release
dc.date.issued
2016
Issn
dc.identifier.issn
2498-5392
uri
dc.identifier.uri
http://hdl.handle.net/20.500.12944/14577
Abstract
dc.description.abstract
This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with test robots.en
Language
dc.language.iso
enen
Keywords
dc.subject
mobile roboten
Keywords
dc.subject
hybrid driveen
Keywords
dc.subject
transformeren
Keywords
dc.subject
variable geometryen
Keywords
dc.subject
police robotsen
Title
dc.title
Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrainsen
Type
dc.type
Folyóiratcikkhu_HU
Version
dc.description.version
kiadóihu_HU
Doi ID
dc.identifier.doi
10.32565/aarms.2016.3.10

dc.identifier.journalTitle
AARMShu_HU

dc.identifier.journalVolume
15hu_HU

dc.identifier.page
301-323hu_HU

dc.identifier.journalIssueNumber
3hu_HU


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Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains
 
 

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