Simulation study on four-wheeled mobile robot mechanisms using various performance criteria

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2024-07-05 DOI:10.1016/j.robot.2024.104749

Sijun Ryu, Jeeho Won, TaeWon Seo

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Abstract

In this paper, the performance criteria for various four-wheeled mobile robots that are crucial for assessing a robot’s fitness for mobility to successfully complete missions are introduced. The seven proposed performance indices, the root mean squared acceleration (RMSA), posture variance index (PVI), static stability margin (SSM), force angle stability margin (FASM), energy stability margin (ESM), friction requirement ( $μ_{r}$ ), and velocity constraint violation (VCV), address the fluctuation, rollover, and slippage problems in four-wheeled mobile robots. The simulations considered a square bump-shaped obstacle, and the dimensions of the robot were based on nine simulation cases in a 3D environment. Additionally, a methodology for evaluating these seven criteria is outlined. To streamline the simulation process, Taguchi’s catalog of orthogonal arrays (OAs) was used for the experimental design, specifically L9 OA with four factors and three levels was used. Analysis of means (ANOM) was applied to assess the influence of each design factor on the seven criteria, leveraging the OA orthogonality. Finally, the sensitivity analysis and potential for evaluating general mobile robots in the future are discussed.

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利用各种性能标准对四轮移动机器人机构进行仿真研究

本文介绍了各种四轮移动机器人的性能标准，这些标准对于评估机器人是否适合移动以成功完成任务至关重要。针对四轮移动机器人的波动、翻滚和打滑问题，提出了七个性能指标，即加速度均方根（RMSA）、姿态方差指数（PVI）、静态稳定裕度（SSM）、力角稳定裕度（FASM）、能量稳定裕度（ESM）、摩擦要求（μr）和速度约束违反（VCV）。模拟考虑了一个正方形凹凸形状的障碍物，机器人的尺寸基于三维环境中的九个模拟案例。此外，还概述了评估这七项标准的方法。为了简化模拟过程，实验设计采用了田口的正交阵列（OA）目录，特别是采用了包含四个因素和三个水平的 L9 OA。利用 OA 的正交性，采用均值分析（ANOM）来评估每个设计因素对七项标准的影响。最后，讨论了敏感性分析和未来评估一般移动机器人的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.