Dynamic Trajectory Generation and Obstacle Avoidance for a                Reconfigurable Spherical Robot

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Kananpour, Babak | 2015

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Type of Document: M.Sc. Thesis
Language: English
Document No: 47772 (58)
University: Sharif University of Technology, International Campus, Kish Island
Department: Science and Engineering
Advisor(s): Ghaemi Osgouie, Kambiz; Salarieh, Hassan
Abstract:
Recent studies show that spherical shape robots have been widely developed by many robotic researchers. A spherical shape can be also benefited in keeping mechanical components and electronic circuits inside a compact volume. The shell can also perform rolling motions for going fast and smooth on flat area. The reconfigurable spherical robot can be configured into a form of two interconnected hemispheres with three legs equipped with three Omni-directional wheels. The conceptual design of the robot will be initially packed and deployed in a spherical configuration. The spherical construction offers ease in transportation and deployment; for example, a number of these robots can be packed and deployed together from an aircraft. This thesis is on the kinematics and dynamic analysis of a spherical robot. The robot can transform into a mobile form with three Omni-directional wheels. It is aimed to find the optimum position and orientation of the wheels also; a method is proposed and implemented for suitable motion between an initial location and the target while avoiding the obstacle in the way
Keywords:
Obstacle Avoidance ; Kinematics Analysis ; Spherical Mobile Robot ; Trajectory Generation ; Dynamic Routing ; Omnidirectional

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