Improving the Navigability of a Mobile Robot Considering the Energy Consumption of its Arm

被引：0

作者：

García J.M. ^{[1
]}

Moncada J. ^{[1
]}

Rodríguez J. ^{[1
]}

机构：

[1] Universidad Nacional Experimental del Táchira, Laboratorio de Prototipos, Av. Universidad, sector Paramillo, San Cristóbal

来源：

RIAI - Revista Iberoamericana de Automatica e Informatica Industrial | 2023年 / 20卷 / 02期

关键词：

Energy consumption; Navigability; Skid steer robot; Slide-Down; Tip-over stability; Vehicle steerability;

D O I：

10.4995/riai.2022.17806

中图分类号：

学科分类号：

摘要：

This article describes the development of a strategy to improve the navigability of a Skid Steer mobile robot when it travels on inclined surfaces; this strategy is based on the use of an arm coupled to the robot, that uses controlled movements in a way that generates less energy expenditure. For this, a model of the energy consumption of the arm with 2 degrees of freedom was developed, which was validated using the MSC ADAMS software. the strategy was designed that allow the robot to position its arm with compensatory movements or with the end effector in contact with the ground to avoid overturning and sliding down, in addition to maintaining the steering, while lowering the energy consumption caused by the maneuver. Next, the strategy was evaluated through simulation and experiments with the real robot, determining its effectiveness according to the parameters defined in its design and implementation. © 2023 Universitat Politecnica de Valencia. All rights reserved.

引用

页码：115 / 123

页数：8

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