Analysis and slippage avoidance of the caterpillar robot with anti-lock braking system
Journal
Advanced Science Letters
Journal Volume
8
Pages
561-566
Date Issued
2012
Author(s)
Abstract
This paper analyzes the moving platform of the caterpillar robot with Coulomb's viscous friction. The riding reliability and the maneuverability play increasingly important roles in the development of the moving platform of manned robots. Generally speaking, the escaping phenomenon may occur when the moving robots are driven in higher speed or more slippery terrain on campus. To avoid hurting the riders during braking or cornering conditions, this paper proposes a robust algorithm along the geometric interface on the ground and constructs an intelligent controller to stabilize escaping phenomenon of the caterpillar robot. The proposed algorithm is focused on modeling, analysis, and control of nonholonomically dynamics of the caterpillar robot on the geometric point of view. The stratagem of the anti-lock braking system (ABS) is to navigate the cornering dynamics using the intelligent controller, which successfully integrate a SLQG/LTR and multi-stage electronic sensors. Finally, dynamic simulations and experiments of a sensor-based prototype are made to justify the performance of the proposed algorithm. © 2012 American Scientific Publishers. All rights reserved.
SDGs
Type
journal article