Tethered Mobile Robot for Automating Highway Maintenance Operations

Daehie Hong, Steven A. Velinsky, Kazuo Yamazaki

Research output: Contribution to journalArticle

18 Citations (Scopus)

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 languageEnglish
Pages (from-to)297-307
Number of pages11
JournalRobotics and Computer-Integrated Manufacturing
Volume13
Issue number4
Publication statusPublished - 1997 Dec 1
Externally publishedYes

Fingerprint

Mobile Robot
Mobile robots
Maintenance
Control System
Optimal control systems
Optimal System
Robot Control
Linkage
Proximity
Optimal Control
Robots
Control systems
Experimental Results

Keywords

  • Highway maintenance
  • Path tracking
  • Servo control
  • Wheeled mobile robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Tethered Mobile Robot for Automating Highway Maintenance Operations. / Hong, Daehie; Velinsky, Steven A.; Yamazaki, Kazuo.

In: Robotics and Computer-Integrated Manufacturing, Vol. 13, No. 4, 01.12.1997, p. 297-307.

Research output: Contribution to journalArticle

Hong, Daehie ; Velinsky, Steven A. ; Yamazaki, Kazuo. / Tethered Mobile Robot for Automating Highway Maintenance Operations. In: Robotics and Computer-Integrated Manufacturing. 1997 ; Vol. 13, No. 4. pp. 297-307.
@article{8bfb9820a3e04ad28f9b1bccc357020b,
title = "Tethered Mobile Robot for Automating Highway Maintenance Operations",
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.",
keywords = "Highway maintenance, Path tracking, Servo control, Wheeled mobile robot",
author = "Daehie Hong and Velinsky, {Steven A.} and Kazuo Yamazaki",
year = "1997",
month = "12",
day = "1",
language = "English",
volume = "13",
pages = "297--307",
journal = "Robotics and Computer-Integrated Manufacturing",
issn = "0736-5845",
publisher = "Elsevier Limited",
number = "4",

}

TY - JOUR

T1 - Tethered Mobile Robot for Automating Highway Maintenance Operations

AU - Hong, Daehie

AU - Velinsky, Steven A.

AU - Yamazaki, Kazuo

PY - 1997/12/1

Y1 - 1997/12/1

N2 - 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.

AB - 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.

KW - Highway maintenance

KW - Path tracking

KW - Servo control

KW - Wheeled mobile robot

UR - http://www.scopus.com/inward/record.url?scp=0031366071&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0031366071&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0031366071

VL - 13

SP - 297

EP - 307

JO - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

SN - 0736-5845

IS - 4

ER -