Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-Maps

Yalcin M. K., Yeşiloğlu S. M., Dal M., Temeltaş H.

32nd Annual Conference of the IEEE-Industrial-Electronics-Society, Paris, Fransa, 7 - 10 Kasım 2006, ss.5052-5053 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Paris
  • Basıldığı Ülke: Fransa
  • Sayfa Sayıları: ss.5052-5053
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach.