Overview
ABSTRACT
This article presents the main conditions for the development of mobile robots, especially wheeled ones. The general concepts for the design and choice of hardware architectures for the locomotion systems are presented. The principles of kinematic and dynamic modeling of these systems are developed, and an analysis of their level of mobility and of the admissible family of paths is then proposed. The classical approaches of closed-loop motion control and state estimation are also described.
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Read the articleAUTHORS
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Faïz BenAmar : Professor, Sorbonne Universités, UPMC Univ Paris 06, ISIR, CNRS UMR 7222, Paris, France
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Christophe GRAND : Research Engineer, ONERA, Toulouse, France
INTRODUCTION
Beyond traditional industrial applications, robots are increasingly present in our daily lives, with major fields of application including medicine, agriculture, security and home assistance. These robots are also increasingly mobile, capable of operating in air, sea and land environments. Land-mobile robotics have historically played an important role, particularly wheeled mobile robots, which use a particularly efficient rolling locomotion system. These robots are already used in industrial fields such as logistics, in agriculture with the automation of tractors, in space and planetary exploration, for security tasks such as area surveillance, or for search and rescue missions in the event of natural or industrial disasters. Over the past few years, they have also found their way into our homes, with autonomous vacuum cleaners, lawnmowers and, more recently, telepresence robots. More and more tasks will be carried out autonomously, often in cooperation with other robots or humans.
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KEYWORDS
Control | design | mobile robot | kinematics | mobility | trajectory control | path tracking
Mobile robotics : design, modeling and control
Hardware architectures for mobile robots
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