Estudo sobre robos de locomoção : formas construtivas, dirigibilidade e controle

AUTOR(ES)
DATA DE PUBLICAÇÃO

1997

RESUMO

The objective of this work is to study the constructive forms more viable to build an autonomous vehicle for people with some physical deficiency. This vehicle will be called as mobile robot, because the vehicle s results can be applied to this type of robots. Initially an introduction to main driven forms applied to mobile robots and the study of tires motions is made. Through the dynamic equations,the analyses of dynamic stability and dirigibility for the 3 basics configurations of mobile robots (4 wheeled, 3 wheeled - 2 front wheels and 3 wheeled - 1 front wheel), for different ways of driving and steering, are made. Finally, the control s options (traditional, fuzzy, neural and neural-fuzzy) are discussed and the development of a fuzzy controller to navigation and obstacle avoidance is made

ASSUNTO(S)

estabilidade robos conjuntos difusos

ACESSO AO ARTIGO

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