Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Sie sind hier: Homepage > Suche

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Freier Zugriff

Luigi Tagliavini / Giovanni Colucci / Andrea Botta / Paride Cavallone / Lorenzo Baglieri / Giuseppe Quaglia

In the last decades, mobile robotics has become a very interesting research topic in the feld of robotics, mainly because of population ageing and the recent pandemic emergency caused by Covid-19. Against this context, the paper presents an overview on wheeled mobile robot (WMR), which have a central role in nowadays scenario. In particular, the paper describes the most commonly adopted locomotion strategies, perception systems, control architectures and navigation approaches. After having analyzed the state of the art, this paper focuses on the kinematics of three omnidirectional platforms: a four mecanum wheels robot (4WD), a three omni wheel platform (3WD) and a two swerve-drive system (2SWD). Through a dimensionless approach, these three platforms are compared to understand how their mobility is afected by the wheel speed limitations that are present in every practical application. This original comparison has not been already presented by the literature and it can be used to improve our understanding of the kinematics of these mobile robots and to guide the selection of the most appropriate locomotion system according to the specifc application.

Zugriff

Download

Exportieren, teilen und zitieren

Dokumentinformationen

Titel :

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

Beteiligte:

Luigi Tagliavini (Autor:in) / Giovanni Colucci (Autor:in) / Andrea Botta (Autor:in) / Paride Cavallone (Autor:in) / Lorenzo Baglieri (Autor:in) / Giuseppe Quaglia (Autor:in) / Tagliavini, Luigi / Colucci, Giovanni / Botta, Andrea / Cavallone, Paride

Erscheinungsdatum :

2022-01-01

DOI :

https://doi.org/10.1007/s10846-022-01745-7

Medientyp :

Aufsatz (Zeitschrift)

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Wheeled mobile robot , Kinematic model , Velocity space analysi , 4WD robot , 3WD robot , Swerve-drive robots