Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps

M. Kürşat Yalçin; S. Murat Yeşiloǧlu; Mustafa Dal; Hakan Temeltaş

doi:10.1109/IECON.2006.347806

Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps

M. Kürşat Yalçin, S. Murat Yeşiloǧlu, Mustafa Dal, Hakan Temeltaş

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach.

Original language	English
Title of host publication	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages	4148-4152
Number of pages	5
DOIs	https://doi.org/10.1109/IECON.2006.347806
Publication status	Published - 2006
Event	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France Duration: 6 Nov 2006 → 10 Nov 2006

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Conference

Conference	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Country/Territory	France
City	Paris
Period	6/11/06 → 10/11/06

Access to Document

10.1109/IECON.2006.347806

Cite this

Yalçin, M. K., Yeşiloǧlu, S. M., Dal, M., & Temeltaş, H. (2006). Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 4148-4152). Article 4153694 (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.347806

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title = "Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps",

abstract = "Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach.",

author = "Yal{\c c}in, {M. K{\"u}r{\c s}at} and Ye{\c s}iloǧlu, {S. Murat} and Mustafa Dal and Hakan Temelta{\c s}",

year = "2006",

doi = "10.1109/IECON.2006.347806",

language = "English",

isbn = "1424401364",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "4148--4152",

booktitle = "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics",

note = "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics ; Conference date: 06-11-2006 Through 10-11-2006",

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Yalçin, MK, Yeşiloǧlu, SM, Dal, M & Temeltaş, H 2006, Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps. in IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 4153694, IECON Proceedings (Industrial Electronics Conference), pp. 4148-4152, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 6/11/06. https://doi.org/10.1109/IECON.2006.347806

Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps. / Yalçin, M. Kürşat; Yeşiloǧlu, S. Murat; Dal, Mustafa et al.
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics. 2006. p. 4148-4152 4153694 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Dal, Mustafa

AU - Temeltaş, Hakan

PY - 2006

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AB - Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach.

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T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

Y2 - 6 November 2006 through 10 November 2006

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Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-maps

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