DOAJ Open Access 2024

Simplified Strategy for Trajectory Tracking Application of a Passive Suspension Rover-Type Mobile Robot

Jheison Duvier Diaz-Ortega Octavio Gutiérrez-Frías José Alejandro Aguirre-Anaya Alberto Luviano-Juárez

Abstrak

In the present work, based on an approximate modelling of a rover-type robot and a proportional control law, a simplified trajectory tracking strategy for a passive suspension rover-type mobile robot was developed. This strategy achieves trajectory tracking and the autonomous displacement of a rover, of which its configuration involves complex kinematics and dynamics. All these lineaments reduce the complexity of the analysis, the number of electronic components to implement, the computational requirements and the energy consumption. The robotic system used is based on the <i>Shrimp</i> rover, which is a robot with a passive suspension that is capable of carrying out displacements over rough terrain. The tests were performed using numerical simulations with different desired trajectories, and also using experimental tests using a passive suspension rover-type mobile robot.

Topik & Kata Kunci

Mechanical engineering and machinery

Penulis (4)

Jheison Duvier Diaz-Ortega

Octavio Gutiérrez-Frías

José Alejandro Aguirre-Anaya

Alberto Luviano-Juárez

Format Sitasi

APA MLA BibTeX

Diaz-Ortega, J.D., Gutiérrez-Frías, O., Aguirre-Anaya, J.A., Luviano-Juárez, A. (2024). Simplified Strategy for Trajectory Tracking Application of a Passive Suspension Rover-Type Mobile Robot. https://doi.org/10.3390/machines12050322

Akses Cepat

PDF tidak tersedia langsung

Cek di sumber asli →

Lihat di Sumber doi.org/10.3390/machines12050322

Informasi Jurnal

Tahun Terbit: 2024
Sumber Database: DOAJ
DOI: 10.3390/machines12050322
Akses: Open Access ✓