Motion Sensing Study on a Mobile Robot Through Simulation Model and Experimental Tests

Q3 Engineering

WSEAS Transactions on Applied and Theoretical Mechanics Pub Date : 2022-07-06 DOI:10.37394/232011.2022.17.11

Pierangelo Malfi, A. Nicolella, M. Spirto, C. Cosenza, V. Niola, S. Savino

引用次数: 1

Abstract

The employment of mobile robots, remotely or autonomously controlled for field operations, is an emerging topic. The development of suitable simulation models can aid the design and testing of such mobile robots. Here a small commercial prototype of a Rocker-Bogie Rover has been employed in experimental tests compared to simulations on a multibody model. In particular, the tests have dealt with the acquisition and processing of accelerometer signals both on experimental prototype and in simulation environment. The paper proposes a real time signal processing approach that could aid the motion planning and rover navigation control.

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基于仿真模型和实验测试的移动机器人运动传感研究

使用远程或自主控制的移动机器人进行野外作业是一个新兴的话题。建立合适的仿真模型有助于此类移动机器人的设计和测试。在这里，一个小型的商用罗克转向架漫游者的原型已经被用于实验测试，与多体模型的模拟进行了比较。在实验样机和仿真环境下对加速度计信号进行了采集和处理。提出了一种实时信号处理方法，以辅助机器人的运动规划和导航控制。

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

WSEAS Transactions on Applied and Theoretical Mechanics Engineering-Computational Mechanics

CiteScore

1.30

自引率

0.00%

发文量

期刊介绍： WSEAS Transactions on Applied and Theoretical Mechanics publishes original research papers relating to computational and experimental mechanics. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with fluid-structure interaction, impact and multibody dynamics, nonlinear dynamics, structural dynamics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.