Analysis of a mobile robot with an angular swivel steering mechanism with applications to step climbing -

Abstract

The use of wheeled mobile robots in human environments is increasing rapidly. Many robots that are capable of navigating rough terrains have been proposed in literature. However, these have complex methods of actuation and are difficult to build. In this paper, we present the swivel car: a simple mobile platform with an active angular swivel steering mechanism that provides it with the ability to navigate through human environments. In particular, this robot demonstrates step climbing capabilities that prove to be useful in human environments. To study these capabilities, we create various kinematic and dynamic models. These models are used as a basis for comparison with other mobile robots of similar dimensions to determine the effectiveness of its climbing capabilities. These models are obtained by making simplifying assumptions to reduce the complexity of the mobile robot.