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30 September 2003 Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB
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Abstract
The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Peter G. Adamczyk, David J. Gorsich, Greg R. Hudas, and James Overholt "Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.497503
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