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Effects of terrain irregularities on wheeled mobile robot

Published online by Cambridge University Press:  19 February 2003

Maria Prado ,
Antonio Simón ,
Ana Pérez  and
Francisco Ezquerro
Maria Prado
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)mpn@uma.es
Antonio Simón
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)mpn@uma.es
Ana Pérez
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)mpn@uma.es
Francisco Ezquerro
Affiliation:
Department of Mechanical Engineering, University of Málaga, Campus El Ejido, 29103 Málaga (Spain)mpn@uma.es
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Abstract

The influence of ground irregularities on the behavior of a wheeled mobile robot (WMR) navigating on uneven surfaces is addressed. The paper studies the vibratory movements induced on the body of the WMR, in order to analyze its ability for carrying out on-board tasks, and on the accuracy of the data collected by its external sensorial systems. The adhesion capability of the wheels of the WMR on this uneven terrain is also studied, since it conditions the braking, traction and steering performance. The method is applied to the WMR RAM.

Keywords

Mobile robotRide analysisUneven terrainExternal sensorsDynamic performance
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 143 - 152
Copyright
© 2003 Cambridge University Press

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