In recent years, autonomous vehicles and mobile robots are starting to become a trend also in several new fields of application. In some cases, they are articulated vehicles with an active front module and a rear one that is pulled passively or that can contribute to the vehicle traction when required. Although modelling of mobile robots is not a novelty, most of the available studies are limited to kinematic or very basic dynamic models. In order to correctly simulate mobile robots with fast dynamics or operating off-road, this study proposes a dynamic model of such systems derived taking into account lateral and longitudinal slip in the wheels. The model is then validated experimentally using a small articulated robot.


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    Title :

    Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System


    Additional title:

    Mechan. Machine Science



    Conference:

    The International Conference of IFToMM ITALY ; 2020 ; Naples, Italy September 09, 2020 - September 11, 2020



    Publication date :

    2020-08-20


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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