Control Method and Motion Path Simulation of a Mobile Robot
In this paper, a novel mobile robot with single degree of freedom (DOF) is presented, which could realize two dimensional movements under the unsteady condition in the motion process. Along with the emergence of the new type of mobile robot, there comes the requirement of new controlling method which could deal with uncertainty in the random motion process. The mathematical model of the new mobile robot is set up. Once the mobile robot changes the direction of movement under the unsteady condition, the variable of new direction will be chosen from one of two potential directions using the Bernoulli distribution. Then, the motion characteristic factors of the robot and the mobile path are analyzed. Simulation results show that the two dimensional movements from one given start point to the destination can be realized by the controlling method with satisfying and reliable performance.
mechanical modeling mobile robot motion path simulation bernoulli random walk
Yizhu Guo Yan-An Yao Yaobin Tian Changhuan Liu
Department of Mechanical Engineering Beijing Jiaotong University Beijing, China
国际会议
太原
英文
638-642
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）