Design and Simulation of a Polar Mobile Robot

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Issue Date
2008Author
Akers, Eric L.
Agah, Arvin
Publisher
De Gruyter
Type
Article
Article Version
Scholarly/refereed, publisher version
Metadata
Show full item recordAbstract
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.
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This is the published version. Copyright De Gruyter
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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.
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