Computer Science > Robotics
[Submitted on 20 Nov 2019 (v1), last revised 16 Jan 2020 (this version, v2)]
Title:Path tracking control of self-reconfigurable robot hTetro with four differential drive units
View PDFAbstract:The research interest in mobile robots with independent steering wheels has been increasing over recent years due to their high mobility and better payload capacity over the systems using omnidirectional wheels. However, with more controllable degrees of freedom, almost all of the platforms include redundancy which is modeled using the instantaneous center of rotation (ICR). This paper deals with a Tetris inspired floor cleaning robot hTetro which consists of four interconnected differential-drive units, i.e., each module has a differential drive unit, which can steer individually. Differing from most other steerable wheeled mobile robots, the wheel arrangement of this robot changes because of its self-reconfigurability. In this paper, we proposed a robust path tracking controller that can handle discontinuous trajectories and sudden orientation changes. Singularity problems are resolved on both the mechanical aspect and control aspect. The controller is tested experimentally with the self-reconfigurable robotic platform hero, and results are discussed.
Submission history
From: Yuyao Shi [view email][v1] Wed, 20 Nov 2019 07:29:57 UTC (5,113 KB)
[v2] Thu, 16 Jan 2020 02:45:03 UTC (5,474 KB)
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