Path tracking control of self-reconfigurable robot hTetro with four
differential drive units
release_3d5icncx4bauboarnnamtydea4
by
Yuyao Shi, Mohan Rajesh Elara, Anh Vu Le, Veerajagadheswar Prabakaran, Kristin L. Wood
2019
Abstract
The research interest in robots with more than one steerable wheel has been
increasing over recent years due to their high mobility while having a better
payload capacity than systems using omnidirectional wheels. However, with more
controllable degrees of freedom, almost all of the platforms include redundancy
which leads to a modeling method based on the instantaneous center of rotation.
The self-reconfigurable the robotic platform, hTetro, is designed for floor
cleaning tasks. It also has four differential-drive units which can steer
individually. Differing from most other steerable wheeled mobile robots, the
wheel arrangement of this robot changes because of its reconfigurability. In
this paper, we proposed a robust path tracking controller that can handle
discontinuous trajectories and sudden orientation changes. Singularity problems
are resolved on both the mechanical aspect and control aspect. The controller
is tested experimentally with the self-reconfigurable robotic platform hTetro,
and results are discussed.
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