Asymmetrical prototype of a five-wheeled robot and maneuver analysis

Abstract

An innovative asymmetrical prototype of a five-wheeled robot is first proposed with reconfiguration features. Based on mechanical prototype, the fifth wheel with slippage measurement is then rendered for details. In terms of s maneuver features, different control strategy and steering performance for asymmetrical prototype with rhomboid shape have been discussed analytically. At last some tests including reconfiguration tests, straight-line motion and traversing tests have been implemented. © 2010 Springer-Verlag.