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Kinematic Design of an All-Terrain Autonomous Holonomic Rover

E. Lerín, Martínez García, Torres Córdoba, Mohan Rajesh Elara

Abstract


In this paper we discuss the aspects of kinematic design of an all-terrain 4-wheel drive rover with synchronous wheels-steer (4WDS). The system poses a hybrid-type of holonomy constrained by the locomotion design. The locomotion system is assumed to have rigid supporting devices with no dumpering effects in a first study. The proposed kinematic solution (direct/inverse) provides the capability to develop holonomic control of trajectories. This manuscript also includes a modeling analysis on a pose control law suggesting a formal resource to future intelligent navigational algorithms in practical applications. We present numerical simulation results on modeling and design of the robotic platform.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.767

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