Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
Advance Modeling of a Skid-Steering Mobile Robot for Remote ...
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1.1 The Pioneer 3-AT <strong>Robot</strong> 8four horizontal side wheels are also installed at the plat<strong>for</strong>m level such that when the robotobliquely encounters a wall they rotated against wall’s surface allowing the robot to continueits motion smoothly. For high obstacles a pressure sensitive switch is installed <strong>for</strong> the entirealuminum frame. Thus, if the robot encounters a door handle, <strong>for</strong> example, the robot willstop. During testing, this system has been found to be largely effective but not perfect. Therewere a few objects in the environment that could defeat these features and cause the robotto overturn itself, potentially incurring damage. In addition, some difficulties have been encounteredwith the safety features being activated during normal operation due to the jerkymotion <strong>of</strong> the skid-steering. Furthermore, jerky motion shakes the camera <strong>of</strong>f the Velcro andit disrupts the image and adds delay while the operator waits <strong>for</strong> the camera view to settledown. This jerky motion is <strong>of</strong>ten due to the fact that telepresence operators tend to swivel therobot in place because that corresponds to ¨looking around¨, which is a very natural action<strong>for</strong> humans but it is not an easy one <strong>for</strong> the robot. Thus, the main aim <strong>of</strong> our future workwill be reducing the robot jerky motion and large-scale vibrations during sharp turns andespecially while swiveling in place.(a)(b)Figure 1.1: (a) The Pioneer 3-AT robot; (b) the extended Pioneer 3-AT robot.