Analysis of Over-Obstacle Robot with Left and Right Wheel Sharing one Shaft

DOI

10.2991/aeece-16.2016.49How to use a DOI?

Keywords

mobile robot, in-phase, over-obstacle, swerve.

Abstract

The wheeled robot whose left and right sides are in phase (L&R in-phase) is superior to the one whose both sides are not in getting over obstacles. Nevertheless, the wheeled robot has to abandon its routine swerve way depending on speed difference of the left and right wheels. In this paper, we present two methods of swerve, one is terms with different friction coefficient on both sides and the other is differential wheel diameter. The quadruple wheeled robot makes its first two wheels revolving and the rest couple reversing. With such rotating mode, there exists a slight deviation [1] on both sides in every cycle because of its different parameters. After several periods, the wheeled robot swerves as instructed. Furthermore, we perform a series of experiments to test this structure we have proposed how the obstacle climbing capability and swerve efficiency are. We also compare the results with the performance of conventional structure whose left and right wheels are out of phase

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Pengfei Yin
AU  - Yujun Wang
AU  - Jie Huang
PY  - 2016/07
DA  - 2016/07
TI  - Analysis of Over-Obstacle Robot with Left and Right Wheel Sharing one Shaft
BT  - Proceedings of the 2016 2nd International Conference on Advances in Energy, Environment and Chemical Engineering (AEECE 2016)
PB  - Atlantis Press
SP  - 237
EP  - 243
SN  - 2352-5401
UR  - https://doi.org/10.2991/aeece-16.2016.49
DO  - 10.2991/aeece-16.2016.49
ID  - Yin2016/07
ER  -