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Research on a semiautonomous mobile robot for loosely structured environments focused on transporting mail trolleys

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posted on 19.09.2018, 08:49 by Victor J. Gonzalez Villela
In this thesis is presented a novel approach to model, control, and planning the motion of a nonholonomic wheeled mobile robot that applies stable pushes and pulls to a nonholonomic cart (York mail trolley) in a loosely structured environment. The method is based on grasping and ungrasping the nonholonomic cart, as a result, the robot changes its kinematics properties. In consequence, two robot configurations are produced by the task of grasping and ungrasping the load, they are: the single-robot configuration and the robot-trolley configuration. Furthermore, in order to comply with the general planar motion law of rigid bodies and the kinematic constraints imposed by the robot wheels for each configuration, the robot has been provided with two motorized steerable wheels in order to have a flexible platform able to adapt to these restrictions. [Continues.]


Universidad Nacional Autónoma de México (Mexico City), Facultad de Ingeniería and Dirección General de Asuntos del Personal Académico.



  • Mechanical, Electrical and Manufacturing Engineering


© V.J. Gonzalez Villela

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A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy at Loughborough University.



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