In recent years, autonomous vehicles and mobile robots are starting to become a trend also in several new fields of application. In some cases, they are articulated vehicles with an active front module and a rear one that is pulled passively or that can contribute to the vehicle traction when required. Although modelling of mobile robots is not a novelty, most of the available studies are limited to kinematic or very basic dynamic models. In order to correctly simulate mobile robots with fast dynamics or operating off-road, this study proposes a dynamic model of such systems derived taking into account lateral and longitudinal slip in the wheels. The model is then validated experimentally using a small articulated robot.

Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System / Botta, A.; Cavallone, P.; Carbonari, L.; Tagliavini, L.; Quaglia, G.. - ELETTRONICO. - 91:(2021), pp. 758-767. (Intervento presentato al convegno IFToMM ITALY 2020 tenutosi a Naples, Italy nel 9-11 September 2020) [10.1007/978-3-030-55807-9_84].

Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System

Botta A.;Cavallone P.;Carbonari L.;Tagliavini L.;Quaglia G.
2021

Abstract

In recent years, autonomous vehicles and mobile robots are starting to become a trend also in several new fields of application. In some cases, they are articulated vehicles with an active front module and a rear one that is pulled passively or that can contribute to the vehicle traction when required. Although modelling of mobile robots is not a novelty, most of the available studies are limited to kinematic or very basic dynamic models. In order to correctly simulate mobile robots with fast dynamics or operating off-road, this study proposes a dynamic model of such systems derived taking into account lateral and longitudinal slip in the wheels. The model is then validated experimentally using a small articulated robot.
2021
978-3-030-55806-2
978-3-030-55807-9
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2846182