Design, control, and performance of the %26apos;weed%26apos; 6 wheel robot in the UK MOD grand challenge

作者：Nagendran Arjun^*; Crowther William; Turner Martin; Lanzon Alexander; Richardson Robert

来源：Advanced Robotics, 2014, 28(4): 203-218.

DOI：10.1080/01691864.2013.865298

• autonomous ground vehicle
• mobile robot design
• robot control
• robot motion analysis

A new locomotion method for unmanned (autonomous) ground vehicles (UGV) is proposed based around six independently driven wheels mounted on three separate modules. Each module is attached to the overall robot via a pivot point and capable of independently controlling its orientation and velocity. This configuration allows the UGV to perform maneuvers conventional vehicles cannot perform, and in particular to control the body orientation separately from the movement direction. The locomotion method is mathematically analyzed to develop appropriate control algorithms and to demonstrate the vehicle performance criteria. A vehicle was constructed according to the proposed configuration and experimentally tested in the UK Ministry Of Defense grand challenge. The performance of the developed locomotion schemes helped the robot make it to the finale of the competition.

• 出版日期2014-2-16