Motion Control of a Wheel-Leg-Track Compound Mobile Robot

摘要：

A novel compound mobile robot named Jaguar is introduced,which is developed by our laboratory.Its mechanism _and system component are presented,with the method of motion control as an emphasis.Modular design allows us to add and to change parts easily at the structural, hardware and software levels.To control different components of the robot,the embedded control system is used and the remote control makes the robot work practice.In order toovercome problems in motion control for robot Jaguar and parameter global tuning for PID controllers,fuzzy controllers are designed,and an angular velocity and course angle algorithm based on deflection angle of caster wheel and compass angle is presented.Experiments on the robot prove the effectiveness of the controller,which improves the operation,system adaptability and motion stability.

关键词： Mobile robot compound mechanism fuzzy control motion control

作者: Huilong Yin Chen Yao Xiaofan Li Zhong Wang

作者单位: Department of Robotics State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Aca Department of Robotics State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Aca

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 770-775

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）