OTHER
Dynamic Trajectory Planning of a Spherical Mobile Robot
Qiang Zhan, Tingzhi Zhou, Ming Chen, Sanlong Cai
- Year
- 2006
- Citations
- 54
Abstract
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot to track a complex trajectory and experiments of the robot to avoid an obstacle show the trajectory planning method is effective.
Keywords
TrajectoryMobile robotRobotObstacleComputer scienceRobot calibrationRobot controlRobot kinematicsControl theory (sociology)Obstacle avoidance
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