中文版 | English
Title

Design, Control and Experiments of An Agile Omnidirectional Mobile Robot with Active Suspension

Author
Corresponding AuthorJia,Zhenzhong
DOI
Publication Years
2022
ISSN
2161-8070
EISSN
2161-8089
ISBN
978-1-6654-9043-6
Source Title
Volume
2022-August
Pages
913-918
Conference Date
20-24 Aug. 2022
Conference Place
Mexico City, Mexico
Abstract
Omnidirectional vehicles (ODVs) have wide applications, but most of them (e.g., mobile robots with omni-, Mecanum, or spherical wheels) are mainly designed for indoor use on flat and smooth terrains. Literature review indicates that mobile robots based on the "self-sustained"active split offset caster (ASOC) module design that uses conventional wheels (e.g., rubber tires) is more suitable to execute agile maneuvers in unstructured rough terrains. However, these robots often have time delay and synchronization issues caused by the wireless transmission of control signals and the wheel-terrain contact-breaking issues (some wheels are lifted off from the ground), which often lead to poor motion control and trajectory tracking performance when executing high speed turns. To solve these problems, through improved ASOC module design, active suspension design, and control algorithm design, we develop an ASOC-based mobile robot capable of active body posture control and agile omnidirectional mobility. We give detailed explanations of its design philosophy and working principle. Experiment results indicate that our proposed robot can achieve much better performance in challenging tests such as negotiating uneven ground and executing very sharp turns at high speed.
Keywords
SUSTech Authorship
First ; Corresponding
Language
English
URL[Source Record]
Indexed By
EI Accession Number
20224613111745
EI Keywords
Active suspension systems ; Automobile suspensions ; Delay control systems ; Machine design ; Wheels
ESI Classification Code
Mechanical Design:601 ; Machine Components:601.2 ; Automobile and Smaller Vehicle Components:662.4 ; Control Systems:731.1 ; Control System Applications:731.2 ; Robotics:731.5
Scopus EID
2-s2.0-85141671169
Data Source
Scopus
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9926462
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/411878
DepartmentSouthern University of Science and Technology
Affiliation
1.Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,China
2.Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,518055,China
First Author AffilicationSouthern University of Science and Technology
Corresponding Author AffilicationSouthern University of Science and Technology
First Author's First AffilicationSouthern University of Science and Technology
Recommended Citation
GB/T 7714
Jiang,Shixing,Li,Zhuolun,Lin,Shiyuan,et al. Design, Control and Experiments of An Agile Omnidirectional Mobile Robot with Active Suspension[C],2022:913-918.
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