Design of mobile robotic platform for high load transportation
Corressponding author's email:
dung.cai@eiu.edu.vnDOI:
https://doi.org/10.54644/jte.64.2021.56Keywords:
Robotic platform for high-load transportation, Suspension system for mobile robot, Differential driving method, Multi-level structure design, Man tracking algorithmAbstract
This paper describes the design method of a mobile robotic platform for high-load transportation as well as its control. The structure of the robot includes 2 independent motorized driven wheels that are located right at the middle of the platform and 2 other caster wheels that are located at the front and the back of the platform. This architecture allows the robot to realize a rapid change of direction simply by turning around itself. The suspension systems assembled at each wheel allow the wheels to keep contact with the ground permanently, thus minimizing vibrations of the platform during its motion. The platform design takes the form of a multi-level architecture which is simple but effective for high-load support. The system was tested in real scenario with success. A localization algorithm was also implemented onto the robot allowing it to operate autonomously.
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