Locomotion Analysis and Navigation Simulation of Adaptive Terrain Vehicle
| Autor: | Min Yang Li, 李敏暘 |
|---|---|
| Rok vydání: | 2003 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 91 The purpose of this research is to establish a virtual environment for the locomotion analysis and navigation simulation of Adaptive Terrain Vehicles (ATV). The virtual environment can be applied in the verification of the mechanism design, control strategy, and path planning to reduce the prototyping expense and the unnecessary design change. ATV’s are usually used in unmanned exploration. In order to increase vehicle mobility, active joints are often applied in the design of exploration vehicles. The interactions between navigation terrain and the vehicle are essential in the determination of the design parameters of vehicle mechanisms. This study applies the dynamics and mechanism simulation system, ADAMS to construct an integrated virtual environment. The motion modes of ATV are modulized into parametric motion commands using the ADAMS macros. An interface to establish a 3D navigation environment from a obstacle data file is also designed using the macro functions. A path planner, Modified Tangent Bug, is then adopted and integrated with the simulation commands. The path planner will decompose the generated path into a sequence of motion commands that can be readily used in the navigation simulation to verify the planning strategy. Two types of ATV, a wheeled explorer, ACE, and a six-legged walking robot are investigated as illustrative examples in the virtual environment to demonstrate the integration scheme. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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