Date of Publication :30th November 2017

Abstract: This work relates to the design of a holonomic and non-holonomic mobile platform and test for the mobility parameters that affect its performance. The system is driven by four-wheel drive mechanism where all the wheels can be steered by two centralized steering actuators. A mathematical model describing the kinematic and dynamic modelling of standard steered and non-steered wheels, which will influence the size, orientation and position of the mobile platform, is mentioned. In addition, this work relates to the study of the performance of the all-terrain mobile robot on various terrain with a different linear controller such as P, PD and PID for the control system. In particular, we compare various mobility parameters like the torque required by system, power or current consumed and robustness of the mobile robot on different terrain like ceramic, concrete and asphalt road by employing different controllers to analyze its performance. The experimental setup includes all terrain mobile robot, rotary encoders, current sensors and circuitry board that houses the mbed LPC1768, Hercules Motor Driver IC and Bluetooth for communication. This experiment is conducted for the number of trials on each terrain with each controller to understand the behavior of robot and also measured basic factors like voltage, current, distance travelled, the time taken to cover the distance. Derivatives of basic parameter like velocity, power, torque, the coefficient of friction are also calculated. Finally, various manoeuvrability of the proposed mobile robot both in holonomic and non-holonomic configuration like straight movement, point turn on different surfaces are tested

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