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Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target

Author

Listed:
  • My, Chu Anh
  • Makhanov, Stanislav S.
  • Van, Nguyen A.
  • Duc, Vu M.

Abstract

The paper presents a new mathematical model to analyze real time applied torques and non-holonomic constraint forces/moment of a security robot, comprised of a wheeled mobile platform and a manipulator for special security task applications. Based on the analysis the optimal selection of the wheels of the robot can be performed so that the slippage on the surface has been minimized. The proposed analysis constitutes a novel component in the modeling and design of the security robots. Numerical experiments illustrate the efficiency of the proposed method.

Suggested Citation

  • My, Chu Anh & Makhanov, Stanislav S. & Van, Nguyen A. & Duc, Vu M., 2020. "Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 170(C), pages 300-315.
    • Handle: RePEc:eee:matcom:v:170:y:2020:i:c:p:300-315
    DOI: 10.1016/j.matcom.2019.11.002
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    References listed on IDEAS

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    1. Izumi, Kiyotaka & Watanabe, Keigo, 2000. "Fuzzy behavior-based control trained by module learning to acquire the adaptive behaviors of mobile robots," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 51(3), pages 233-243.
    2. Tounsi, M. & Le Corre, J.F., 1996. "Trajectory generation for mobile robots," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 41(3), pages 367-376.
    3. Rigatos, Gerasimos G., 2010. "Extended Kalman and Particle Filtering for sensor fusion in motion control of mobile robots," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 81(3), pages 590-607.
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    Cited by:

    1. Jin, Jie & Chen, Weijie & Qiu, Lixin & Zhu, Jingcan & Liu, Haiyan, 2023. "A noise tolerant parameter-variable zeroing neural network and its applications," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 207(C), pages 482-498.

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