Abstract
The use of a self-propelled mobile robot working in close proximity to a support vehicle for purposes of power, materials, etc. would be extremely valuable for highway maintenance and construction operations. This paper discusses the development of such a unique mobile robot system and emphasizes the robot's control system. The wheeled mobile robot is differentially steered and tethered to a support vehicle via a mechanical linkage which has position tracking capability. This mobile robot system has been termed the tethered mobile robot (TMR), and such an approach has the potential for use in a wide variety of highway maintenance operations. An optimal control system applicable to many highway maintenance operations is designed and implemented through the utilization of recently developed servo control technology. Experimental results presented show significant promise for the TMR system.
| Original language | English |
|---|---|
| Pages (from-to) | 297-307 |
| Number of pages | 11 |
| Journal | Robotics and Computer-Integrated Manufacturing |
| Volume | 13 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1997 Dec |
| Externally published | Yes |
Keywords
- Highway maintenance
- Path tracking
- Servo control
- Wheeled mobile robot
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications
- Industrial and Manufacturing Engineering