NDLI: Design and implementation of a 4WS4WD mobile robot and its control applications

Content Provider	IEEE Xplore Digital Library
Author	Chih-Jui Lin Su-Ming Hsiao Ying-Hao Wang Cheng-Hao Yeh Chien-Feng Huang Li, T.-H.S.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan (Chih-Jui Lin; Su-Ming Hsiao; Ying-Hao Wang; Cheng-Hao Yeh; Chien-Feng Huang; Li, T.-H.S.)
Abstract	This paper mainly develops of a four-wheel steering and four-wheel drive (4WS4WD) mobile robot and examines its control applications. The 4WS4WD possesses the benefits of the 4WD structure and the advantages of a 4WS system, and has the better performance of lateral dynamics in comparison with traditional mobile robots. By handling the 4WS4WD mobile robot, the motion control, obstacle avoidance and control strategy are addressed in this paper. The robotic maneuver control for 4WS4WD mobile robot is firstly investigated. For obstacle avoidance, the dynamic window approach (DWA) is used to safely control the mobile robot. The A* algorithm is adopted to implement the path planning and mobile robot navigation system. The experimental results demonstrate that the realized mobile robot can successfully conquer many kinds of terrains and carry out all the tasks in the SKS Intelligent Security Robot Competition held in Taipei International Robot Show (TIROS).
Starting Page	235
Ending Page	240
File Size	947082
Page Count	6
File Format	PDF
ISBN	9781479900077
ISSN	23250925
e-ISBN	9781479900091
DOI	10.1109/ICSSE.2013.6614666
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-04
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Obstacle avoidance SKS intelligent security robot competition A* algorithm Robot sensing systems Path planning Mobile robots Security Collision avoidance 4WS4WD DWA
Content Type	Text
Resource Type	Article

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