Abstract
Tracked mobile robots are well suited for operation in uneven and obstacle ridden environments. A great majority of the current research in motion planning and obstacle avoidance however involves either wheeled or legged mobile systems. In our research we have been developing tracked mobile-manipulator systems for applications in hazardous environments. A Simulation, Animation, Visualization and Interactive Control environment has been developed for the design and operation of an integrated robotic manipulator systems. It is characterized by three unique and useful features. (1) Simulation and Visualization of Robot Motion, (2) Virtual and Real World Transformations, and (3) Sensor-based Manipulation and Reactive Obstacle Negotiating Strategies. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
