轮式移动机器人沙地行驶控制建模与仿真研究

结合车轮沙土相互作用的力学分析,研究解决轮式移动机器人沙地行驶车轮过度滑转下陷问题。考虑纵列式重复通过车轮沙土力学参数的修正,建立六轮式沙地移动机器人的动力学模型,以车轮滑转率为状态变量,设计了移动机器人沙地行驶的滑模驱动控制器跟踪车轮期望滑转率。MATLAB/Simulink仿真结果表明,采用该控制器可以较快地跟踪期望滑转率,有效地限制机器人车轮的滑转,避免车轮的过度下陷。

The problem of excessive sinkage of mobile robot wheels moving on sand was studied. Based on the definition of the slip ratio of wheels, dynamical model of the robot was established, which incorporated the terramechanics theory and calibrated the parameters of soil according to the theory of muti-pass performance of rigid driving wheels. The sliding mode controller was designed for this dynamic model, considering the non-linear systems with uncertainties. Simulation results show that the controller effectively keeps the slip rate of the driving wheel tracking the desired value and avoids the excessive spin and sink of the driving wheel, therefore it lays the foundation for the normal operating of the mobile robot.

中国科学院方向性预研资助项目(A050105)