| Type of Document |
Thesis |
| Author |
Arcot Krishnamurthy, Dhanashekar
|
| URN |
etd-04042008-201715 |
| Title |
Modeling and Simulation of skid steered robot Pioneer-3AT |
| Degree |
Master of Science |
| Department |
Mechanical Engineering, Department of |
| Advisory Committee |
| Advisor Name |
Title |
| Patrick Hollis |
Committee Chair |
| Carl Moore |
Committee Member |
| Juan Ordonez |
Committee Member |
|
| Keywords |
- ADAMS Simulation
- Skid Steering
- Dynamic Model
|
| Date of Defense |
2008-03-27 |
| Availability |
unrestricted |
Abstract
Mobile robots are used extensively for their ability to navigate and perform tasks in unstructured environments, without continuous human guidance. They are used for space exploration, military surveillance, nuclear power industry, security, etc. Before these robots are put to work, they need to be tested under different conditions. While developing or testing these robots, it is important that one models the actual vehicle and simulates test conditions similar to the actual ones. These models give an idea of how the robot is going to behave and thus play a critical role in the development of the vehicle navigation and control systems.
For a skid steered robot like the Pioneer 3AT, the velocity constraints are quite different from other mobile platforms, because the wheels must skid laterally to follow a curved path. This implies that the control of this robot at the kinematic level only is not sufficient and, in general, demands the use of a dynamic model. This thesis develops a mathematical model of a 4-wheel skid-steering mobile robot, the Pioneer 3AT. The model is validated with actual experiments on the Pioneer 3AT and also modeling and simulation using Pro Engineer and ADAMS.
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