Autonomic Wheel Alignment for Mobile Robots

Martin Doran, Roy Sterritt, George Wilkie

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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In pursuit of future space exploration, NASA hasdescribed the concept of Multiple Rovers; this concept wasbased on the fact that multiple rovers are capable ofcompleting more tasks and covering a larger area than a singlerover. However, the amount of expenditure put into each roverwill be greatly reduced compared to that of a single dedicatedrover. These lower spec. rovers would be more vulnerable tohardware faults. However, if the software system built intoeach rover is based on autonomic principles, then the ability ofthe rover to continue to operate would be greatly increased.When studying the features of mobile robots using the X80-hfrom Dr. Robot, it was found that this type of Robot can sufferfrom a wheel alignment issue – were, when given a commandto move forward by a given distance, it would either veer off tothe left or to the right. This resulted in the Robot not arrivingat the expected destination. The alignment ‘error’ was notalways consistent for each Robot; it was found that after eachattempt the Robot was at various distances from the expecteddestination point. To plot the path of the Robot at eachattempt, Indoor GPS was used. The Indoor GPS provides x, yand degree of angle data which can then be recorded into adatabase. The goal is to use this data to create an algorithm tocompensate for the alignment error; this will thereforeimprove the Robots reliability to reach its expected destination.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIEEE Computer Society
Number of pages6
Publication statusPublished (in print/issue) - Sept 2014
Event11th IEEE International Conference and Workshops on the Engineering of Autonomic & Autonomous - APL, Laurel, Maryland, USA
Duration: 1 Sept 2014 → …


Conference11th IEEE International Conference and Workshops on the Engineering of Autonomic & Autonomous
Period1/09/14 → …


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