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Design and Simulation of a Polar Mobile Robot
Akers, Eric L. Agah, Arvin
Akers, Eric L.
Agah, Arvin
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Abstract
This paper describes the design and simulation of a mobile robot for missions in polar regions. The robot was designed to provide mobility, power, precise positioning and environmental protection for a bistatic synthetic aperture radar for polar regions to measure ice thickness and other ice sheet characteristics. The robot is required to carry and protect the radar system and to tow a large antenna, while providing precise positioning of the antenna to the accuracy of within a few centimeters. In parallel to the design and fabrication of an actual robot, a simulation model of the robot was designed and a virtual prototype was built to perform numerous experiments without the need for actual deployment in polar regions. These experiments tested robot characteristics such as slopes in the terrain, rolling effects, turning radii, antenna attachments, and payload distribution.
Description
This is the published version. Copyright De Gruyter
Date
2008
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De Gruyter
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Keywords
Polar robots, Mobile robots, Robot simulation
Citation
Akers, Eric L., and Arvin Agah. "Design and Simulation of a Polar Mobile Robot." Journal of Intelligent Systems 17.4 (2008): n. pag. http://dx.doi.org/10.1515/JISYS.2008.17.4.379.