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Introducing Climax: A novel strategy to a tri-wheel spiral robot

Javadi, Amir-Homayoun, Mojabi, Puyan (2005) Introducing Climax: A novel strategy to a tri-wheel spiral robot. Robotics and Autonomous Systems, 51 (4). pp. 297-310. ISSN 0921-8890. (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
Official URL
http://linkinghub.elsevier.com/retrieve/pii/S09218...

Abstract

This paper describes a prototype and analytical studies of a tri-wheel spiral mobile robot. The robot can reach any desired point with a sequence of rotational movements. The robot has a simple actuation mechanism, consisting of three wheels mounted on a platform with axes fixed in 120? and a motor connected to each. Our approach introduces several new features such as simple repeated sequence of commands for steering and spiral motion, versus direct movement to target. The mathematical model of the robot is discussed, and a steering method is developed to achieve full motion capabilities. For a number of missions, it is shown experimentally that the proposed motion planning agrees well with the results.

Item Type: Article
Uncontrolled keywords: path planning,spiral robot,tri-wheel robot
Subjects: B Philosophy. Psychology. Religion > BF Psychology
Divisions: Faculties > Social Sciences > School of Psychology > Cognitive Psychology
Depositing User: Amir-Homayoun Javadi
Date Deposited: 03 Dec 2015 11:40 UTC
Last Modified: 29 May 2019 16:34 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/52617 (The current URI for this page, for reference purposes)
Javadi, Amir-Homayoun: https://orcid.org/0000-0003-0569-6441
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