Daniele Di Vito, Paolo Di Lillo, F. Arrichiello, Cesare Ferone, Raffaele Amico, Gianluca Antonelli
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引用次数: 0
Abstract
The paper presents the control architecture of a crawler mobile robot designed and developed to sample potentially contaminated lands. The robot, developed in the framework of an Italian national project named ROBILAUT, carries a driller with a customized sampling mechanism to implement on-site the required quartering, and it is controlled to move the drilling device on specific points acquired in real time before the mission starts. The paper describes the software architecture for the navigation and control, focusing on the control framework of the robotic platform. Specifically, the robot exhibits a differential drive kinematics with actuators’ constraints, and two different control strategies have been experimentally tested for comparison both in a structured environment and in the real site in May 2023.
期刊介绍：
Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance.
Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.
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