The Chaplygin beanie is a single-input robotic vehicle for which partial planar motion control can be achieved by exploiting a simple nonholonomic constraint. A previous paper suggested a strategy for such motion control. In the present paper, this strategy is validated experimentally and extended to the context of multi-vehicle coordination. It is then shown that when the plane on which two such vehicles operate is translationally compliant, energy transfer between the two can enable a mechanism whereby one (operating under control) may entrain the other (operating passively), partly coordinating their motion. As an extension to this result, it is further demonstrated that a pair of passive vehicles operating on a translationally compliant platform can eventually attain the same heading when released from their deformed configurations.
- Dynamic Systems and Control Division
Planar Motion Control, Coordination and Dynamic Entrainment in Chaplygin Beanies
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Kelly, S, Abrajan-Guerrero, R, Grover, J, Travers, M, & Choset, H. "Planar Motion Control, Coordination and Dynamic Entrainment in Chaplygin Beanies." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T40A007. ASME. https://doi.org/10.1115/DSCC2018-9037
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