TY - GEN
T1 - Planning and control of MOBIT'S obstacle negotiating
AU - Duan, Xingguang
AU - Bian, Guibin
AU - Jiang, Zhihong
AU - Huang, Qiang
PY - 2008
Y1 - 2008
N2 - In this paper we describe the planning and control of obstacle negotiating of MOBIT, which is targeted to applications in various hazardous environments to carry out military and civilian missions. The planning and control for MOBIT's obstacle negotiating have some individualities because of its multi-locomotion modes and special negotiating methods. Considering the interaction factors between robot and obstacles during passing through the obstacles, the characteristics of obstacle terrain are analyzed and the typical obstacle such as step, convexity, ditch, slope, are chosen to analyze its planning and control of obstacle negotiation. Different control equations are derived based on its obstacle negotiating locomotion sequence respectively, and its key parameters are revealed, which present its capabilities of robot's obstacle negotiating that can be used for autonomous motion control of robot operating with different obstacle terrains.
AB - In this paper we describe the planning and control of obstacle negotiating of MOBIT, which is targeted to applications in various hazardous environments to carry out military and civilian missions. The planning and control for MOBIT's obstacle negotiating have some individualities because of its multi-locomotion modes and special negotiating methods. Considering the interaction factors between robot and obstacles during passing through the obstacles, the characteristics of obstacle terrain are analyzed and the typical obstacle such as step, convexity, ditch, slope, are chosen to analyze its planning and control of obstacle negotiation. Different control equations are derived based on its obstacle negotiating locomotion sequence respectively, and its key parameters are revealed, which present its capabilities of robot's obstacle negotiating that can be used for autonomous motion control of robot operating with different obstacle terrains.
KW - Mobile robot
KW - Motion planning
KW - Negotiating capability
KW - Obstacle terrain
UR - http://www.scopus.com/inward/record.url?scp=56449122594&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2008.4636217
DO - 10.1109/ICAL.2008.4636217
M3 - Conference contribution
AN - SCOPUS:56449122594
SN - 9781424425020
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
SP - 580
EP - 586
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
T2 - IEEE International Conference on Automation and Logistics, ICAL 2008
Y2 - 1 September 2008 through 3 September 2008
ER -