NDLI: Motion planning and control for a tethered, rimless wheel differential drive vehicle

Content Provider	IEEE Xplore Digital Library
Author	Shankar, K. Burdick, J.W.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA (Shankar, K.; Burdick, J.W.)
Abstract	This paper considers motion planning and control problems that are motivated by the design of tethered, extreme terrain robots. We abstract the mobility structure of these systems using a tethered differential drive robot with rimless wheels. We analyze several important issues related to this geometry. First it is shown that this vehicle cannot be modeled deterministically unless an additional degree of freedom relative to the standard differential drive vehicle is provided. The simplest kinematically consistent model is one that allows for slight prismatic motion of the axle, approximating the effects of wheel slip. We show that under mild assumptions, such a vehicle's reachable set is dense in SE(2), implying local maneuverability. Next we study some of the constraints which the tether places on the vehicle's motions and derive scaling laws relating wheel and vehicle speeds. Using these results, we provide simple planning and approximate path-following methods that allow tether management. In particular, we consider trajectories produced by solving an optimal control problem to minimize the integral of absolute tether-reeling rate.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4829
Ending Page	4836
File Size	1156466
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697053
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Vehicles Mobile robots Kinematics Planning Standards
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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