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Trajectory tracking simulation of a dual-wheeled robot running on slippery surfaces

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Abstract

This paper presents the trajectory tracking simulations of a dual-wheeled robot running on slippery surfaces. The robot has been developed to inspect the surface properties of hydroelectric dams. In such environments, wheel slips often result between the wheel and the dam surface because the wet algae cover the dam surface in places. Although we plan to apply a nonlinear control to the wheel-typed robot with non-holonomic constraints, the control performance is not evident under slippery conditions. Applying the nonlinear control to a dynamic simulator of the robot, we estimate the tracking errors caused by the slippery conditions. Finally, we propose a compensator that is effective for returning to the desired trajectory, and show its usefulness through simulations.

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Authors and Affiliations

  1. Graduate School of Kindai University, Osaka, Japan

    Akira Ishibashi

  2. Department of Science and Engineering, Kindai University, Osaka, Japan

    Yoshikazu Ohtsubo & Kiyoshi Ioi

  3. Hitachi Zosen Corporation, Osaka, Japan

    Haruto Yano

Authors
  1. Akira Ishibashi
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  2. Yoshikazu Ohtsubo
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  3. Kiyoshi Ioi
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  4. Haruto Yano
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Corresponding author

Correspondence to Akira Ishibashi.

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This work was presented in part at the joint symposium of the 27th International Symposium on Artificial Life and Robotics, the 7th International Symposium on BioComplexity, and the 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Online, January 25–27, 2022).

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Ishibashi, A., Ohtsubo, Y., Ioi, K. et al. Trajectory tracking simulation of a dual-wheeled robot running on slippery surfaces. Artif Life Robotics 27, 603–611 (2022). https://doi.org/10.1007/s10015-022-00771-w

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  • DOI: https://doi.org/10.1007/s10015-022-00771-w

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