A lot of research has recently been performed on mobile robots because of their value in human life. In various applications and areas, robotics are used. Maintaining the robot's protection and accessibility is important. If the robot doesn't always enable self-recovery, it will not be able to attain its target. This paper studies a tracked mobile robot control and path planning using the dijkstra's algorithm. Robot Operating System (ROS) is the software prototyping platform. The robot's basic mission and its control mechanism is explained. The analysis is carried out using three ultrasonic sensors requiring a low-effort framework enabling exploration in the robot route zone. In a simulated environment, the presented method was verified and the results showed successful path planning with obstacles avoidance.
Recently, improvements of mobile robot machines have gained a great deal of interest because of their usefulness and importance of the actual life. Robotics researcher's focus extends to legged walking robot, that employs a mechanical limb for maneuvers which keeps it easier on rough and irregular terrain than wheeled and tracked machines. Standard Periodic moving gates cannot adjust with such obstacles and hazards. Various types of terrain need specific gait style in order to achieve better performance on locomotion. Throughout this analysis, via the adaptive walking gate, the challenge of performing a predetermined path in the Cartesian environment is constructed. Phantom ll which is a six legged robot is designed and simulated using the Matlab SimMechanicsTM toolbox to determine and calculate the integrated adaptive walking gate and the hexapod robot dynamics. Furthermore, the case study of Phantom ll hexapod is analyzed in the kinematic model which involves of two major types, inverse and forward kinematics for all legs. The robot's performance factor and kinematic constraints are taken into account. The simulation data demonstrated the appropriateness of using the adaptive walking gait. Reducing energy consumption performs an essential function in the multi-legged devices locomotion which utilized for maintenance applications. Detailed dynamic analysis of the power-efficient for hexapod moving machine during navigation across gradient inclined surface is provided.
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