1P1-I02 Kinematic simulation of a Bicycle-Type Mobile Robot Travelling on Curved Surface(Wheeled Robot/Tracked Vehicle)

Abstract

We plan to estimate the position of a bicycle-type mobile robot on a curved surface using an extended three-dimensional dead reckoning. Our extension requires a point of contact for each wheel in addition to the wheels' rotation angles and the robot's orientation. Therefore, we need to investigate the spatial relation between the curved surface and the robot's wheels. This paper describes a kinematic simulation for analysis of a bicycle-type mobile robot which travels on a curved surface. There are two important procedures carried out in this method of simulation, one is modeling the curved surface as STL data, and the other is extending Ackermann-geometry to three dimensions.