Antoska-Knights, Vesna and Petrovska, Olivera and Deskovski, Stojce (2020) Mathematical Modelling and Simulations of Path Planning and Obstacles of Mobile Robot. South East European Journal of Sustainable Development.
Full text not available from this repository.Abstract
This paper is presented a development of a mathematical model of mobile humanoid robot. It is following
deductive principle, i.e. to start from a completely general model applicable to a set of tasks. Such a model
is further adjusted according to need certain specific situations.
The robot is wheeled humanoid robot as a structure composed by upper human-like body and cart mobile
platform. The cart construction is supported by 4-wheels configuration, electric drive on the rear vehicles,
and is directed from the front wheels. A general simulation system is realized at movement in a horizontal
(2D) plane and the robot is modeled as a 3-DOF system (three degrees of freedom).
We have considers a known environment where fixed potentials were assigned to the goal and the
obstacles. It moves successfully within different obstacle configurations (closely spaced obstacles), and it
solves the problem with a local minimum occurrence. Researches made in the paper are new opportunities
and directions for new researches. As expected, the robot can easily handle low speed cart movements, and
intuitively problems appear with an increase in speed. We restricted the consideration to cart motions
which are relevant to the humanoid robot working in human-centred environments. A mobile robot is
usually intended to work in services; so in homes, department stores, restaurants, museums, hospitals etc.
The working conditions of humanoid and semi-humanoid robots directly determine the requirements
related to the ability of robots to maintain balance, stay stable, remain accurate and provide the qualities to
perform controlling tasks in the given circumstances of functioning.
KEYWORDS
Keywords: Mobile robots, Guidance and control, Obstacle avoidance. Robustness, Robot Posture.
| Item Type: | Article |
|---|---|
| Subjects: | Scientific Fields (Frascati) > Natural sciences > Mathematics |
| Divisions: | Faculty of Technology and Technical Sciences |
| Depositing User: | Mr Jordan Martinovski |
| Date Deposited: | 21 Mar 2023 11:38 |
| Last Modified: | 21 Mar 2023 11:38 |
| URI: | https://eprints.uklo.edu.mk/id/eprint/7868 |
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