Modeling, control and simulation of a novel mobile robotic system

Xiaoli Bai, Jeremy Davis, James Doebbler, James D. Turner, John L. Junkins

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


We in the Department of Aerospace Engineering at TexasA and M University are developing an autonomous mobile robotic system to emulate six degree of freedom (DOF) relative spacecraft motion during proximity operations. The base uses an active split offset castor (ASOC) drive train to achieve omni-directional planar motion with desired tracking position errors in the ±1 cm range and heading angle error in the ±0.5° range. With six independently controlled wheels, we achieve a nominally uniform motor torque distribution and reduce the total disturbances with system control redundancy. A CAD (Computer-aided Design) sketch of our onethird scale model prototype is shown.

Original languageEnglish (US)
Title of host publicationAdvances in Computational Algorithms and Data Analysis
Number of pages14
StatePublished - 2009
Externally publishedYes

Publication series

NameLecture Notes in Electrical Engineering
Volume14 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering


  • Active split offset castor
  • Controlled wheels
  • Mobile robotic system
  • Modeling
  • Simulation


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