Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

More documents

Recommendations

Info

ContentsIntroduction 11 Hardware and Software 61.1 The Pioneer 3-AT Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 61.2 The sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Modeling of Skid-Steering Mobile Robots 112.1 State of the Art . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.1.1 Kinematic Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 122.1.2 Dynamic Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 182.2 Generalized Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 Experimental Data 343.1 The accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343.2 Characterization of the Vibrations . . . . . . . . . . . . . . . . . . . . . . 373.3 Characterization of the Tire Forces . . . . . . . . . . . . . . . . . . . . . . 434 Modeling of the Tire Reaction Forces 554.1 Tire Lateral Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554.2 Tire Longitudinal Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614.3 Tire Vertical Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625 Identification of the Robot Parameters 645.1 Identification of the Geometric and Inertial Parameters . . . . . . . . . . . 645.2 Identification of the Tire Dynamic Parameters . . . . . . . . . . . . . . . . 67
CONTENTSIV6 Simulation 786.1 Simulink Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 796.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87Conclusions 97Appendixes 98Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105Appendix C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Bibliography 121
Page 1 and 2: Università degli Studi di GenovaRo
Page 3: IINothing great in the World has be
Page 8 and 9: LIST OF FIGURESVII6.4 (a) Block sch
Page 10 and 11: List of Tables5.1 Table of the geom
Page 12 and 13: Introduction 2boDynamics, VGo Commu
Page 14 and 15: Introduction 4The robot employed, i
Page 16 and 17: Chapter 1Hardware and SoftwareIn th
Page 18 and 19: 1.1 The Pioneer 3-AT Robot 8four ho
Page 20 and 21: 1.2 The sensors 10control resolutio
Page 22 and 23: 2.1 State of the Art 12not negligib
Page 24 and 25: 2.1 State of the Art 14velocity vec
Page 26 and 27: 2.1 State of the Art 16Figure 2.3:
Page 28 and 29: 2.1 State of the Art 18Finally, by
Page 30 and 31: 2.1 State of the Art 20constraint (
Page 32 and 33: 2.1 State of the Art 22approximates
Page 34 and 35: 2.2 Generalized Modeling 24⎡1 0¯
Page 36 and 37: 2.2 Generalized Modeling 26V = [v T
Page 38 and 39: 2.2 Generalized Modeling 28where T(
Page 40 and 41: 2.2 Generalized Modeling 30⎡g R(J
Page 42 and 43: 2.2 Generalized Modeling 32where we
Page 44 and 45: Chapter 3Experimental DataIn this c
Page 46 and 47: 3.1 The accelerometer 36(a)(b)Figur
Page 48 and 49: 3.2 Characterization of the Vibrati
Page 54 and 55:
3.3 Characterization of the Tire Fo
Page 56 and 57:
Page 58 and 59:
Page 60 and 61:
Page 62 and 63:
Page 64 and 65:
Page 66 and 67:
4.1 Tire Lateral Force 56Figure 4.1
Page 68 and 69:
4.1 Tire Lateral Force 58velocity b
Page 70 and 71:
4.1 Tire Lateral Force 600 ≤ µ i
Page 72 and 73:
4.3 Tire Vertical Force 62f ix (t)
Page 74 and 75:
Chapter 5Identification of the Robo
Page 76 and 77:
5.1 Identification of the Geometric
Page 78 and 79:
5.2 Identification of the Tire Dyna
Page 80 and 81:
Page 82 and 83:
Page 84 and 85:
Page 86 and 87:
Page 88 and 89:
Chapter 6SimulationIn this chapter,
Page 90 and 91:
6.1 Simulink Model 80On the right h
Page 92 and 93:
6.1 Simulink Model 82Figure 6.3: Bl
Page 94 and 95:
6.1 Simulink Model 84(a)(b)Figure 6
Page 96 and 97:
6.1 Simulink Model 86that v icx can
Page 98 and 99:
6.2 Simulation Results 88(a)(b)Figu
Page 100 and 101:
6.2 Simulation Results 90enough to
Page 102 and 103:
6.2 Simulation Results 92hand side
Page 104 and 105:
6.2 Simulation Results 94(a)(b)Figu
Page 106 and 107:
6.2 Simulation Results 96• For λ
Page 108 and 109:
AppendixesAppendix A1 %% Main progr
Page 110 and 111:
Appendixes 10080 title([conf,’; A
Page 112 and 113:
Appendixes 10224 Hd = design(h,filt
Page 114 and 115:
Appendixes 1043031 % Filter the dat
Page 116 and 117:
Appendixes 106(a)(b)(c)Figure 6.10:
Page 118 and 119:
Page 120 and 121:
Page 122 and 123:
Page 124 and 125:
Page 126 and 127:
Page 128 and 129:
Page 130 and 131:
Appendixes 120(a)(b)Figure 6.24: Pe
Page 132 and 133:
Page 134 and 135:
Page 136 and 137:
Page 138 and 139:
Page 140 and 141:
Page 142 and 143:
Page 144 and 145:
Bibliography[1] G. Oriolo, A. De Lu
show all

Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?