Dynamic and mathematical modeling of wheeled ground robots for navigating rough terrain: development, simulation, and real-world validation
DOI:
https://doi.org/10.5281/zenodo.14018542Ключевые слова:
dynamic model, mathematical model, wheeled ground robots, rough terrain, navigation, pathfinding algorithms, A* algorithm, simulation, real-world testing, obstacle avoidanceЛицензия
Аннотация
This article presents the development and validation of dynamic and mathematical models for wheeled ground robots navigating rough terrain, integrating simulations and real-world testing. Key findings demonstrate enhanced path accuracy, obstacle avoidance, and stability across various challenging environments.
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Библиографические ссылки
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СПИСОК ИСТОЧНИКОВ
1. Alamdari, A. G. A robotic approach for crack detection through the integration of cameras and LiDARs / A. G. Alamdari, A. Ebrahimkhanlou // In Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2023. – SPIE, 2023. – P. 21–29. – DOI: 10.1117/12.2658110.
2. Park, B. -J. Chung Deep reinforcement learning-based failure-safe motion planning for a 4-wheeled 2-steering lunar rover / B. -J. Park, H. -J. Chung // Aerospace. – 2023. – V. 10(3). – P. 219. – DOI: 10.3390/aerospace10030219.
3. Suryaprakash, S. Development of an Indoor Navigation System for Mobile Robots Using Sensor Fusion and Path Planning Algorithms / S. Suryaprakash, P. Thirumoorthi, T. Viswanathan // In 2023 2nd International Conference on Advancements in Electrical, Electronics, Communication, Computing and Automation (ICAECA). – IEEE, 2023. – P. 1–6. – DOI: 10.1109/ICAECA56562.2023.10200495.
4. Neaz, A. Design and Implementation of an Integrated Control System for Omnidirectional Mobile Robots in Industrial Logistics / A. Neaz, S. Lee, K. Nam // Sensors. – 2023. – V. 23(6). – P. 3184. – DOI: 10.3390/s23063184.
5. Zhang, Z. Four-wheeled Ackermann Robot Path Planning in 2D Maze Based on Q-Learning-Bezier Method / Z. Zhang // In 2023 IEEE International Conference on Control, Electronics and Computer Technology (ICCECT). – IEEE, 2023. – P. 36–41. – DOI: 10.1109/ICCECT57938.2023.10140966.
6. Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM / L. Jia, Y. Wang, L. Ma [et al.] // Sensors. – 2023. – V. 23(17). – DOI: 10.3390/s23177570.
7. Low-Cost Multisensory Robot for Optimized Path Planning in Diverse Environments / R. Mittal, G. Rani, V. Pathak [et al.] // Computers. – 2023. – Vol. 12(12). – DOI: 10.3390/computers12120250.
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Это произведение доступно по лицензии Creative Commons «Attribution-NonCommercial» («Атрибуция — Некоммерческое использование») 4.0 Всемирная.
Статьи журнала «Вестник Донецкого университета. Серия 04. Технические науки» находятся в открытом доступе и распространяются в соответствии с условиями Лицензионного Договора с Донецким Государственным университетом, который бесплатно предоставляет авторам неограниченное распространение и самостоятельное архивирование.
