| The outdoor mobile robot is a hot research topic in the field of mobile robot nowadays. Due to the complex outdoor environment, the outdoor mobile robot which should have good obstacle ability and environmental adaptability could sense their surroundings fast and make decisions in time according to the information from the perception system to adapt the environment. Today the outdoor mobile robot is mainly used in outer space exploration and military, the civilian application is less, so the development of a low cost of outdoor mobile robot is imperative.In this paper, the hardware stucture for the control system of the outdoor mobile robot with foldable wheels is designed on the basis of the movement control card. The method of the debugging on the mobile robot is the PID control algorithm which could enables the mobile robot’s stable work in outdoor environments. At the same time, the environment perception system of the mobile robot is established, which could get the perception attitude information of the mobile robot through the inertial measurement unit and the location information of mobile robot through the global positioning system.The intelligent control method for mobile robot is studied. The adaptive control model for the foldable wheels of the mobile robot is established, which could open or fold the wheels autonomously according to the road conditions. So that the mobile robot can be adapted to different road environment. Then the center of mass domain of the mobile robot can be kept in a certain range and the stability of it can be improved.The good navigation and localization algorithm can ensure the function of the independent patrol of the mobile robot in outdoor environment. The localization algorithm is studied in this paper because the localization is the foundation of autonomous navigation. The absolute localization method which is global positioning system and the relative localization which is dead reckoning method are adopted for the mobile robot. Combining the two method can achieve a good outdoor positioning through multiple sensor information fusion such as Kalman filtering algorithm.Finally the outdoor experiments for the outdoor mobile robot with foldable wheels are done including the experiments of the basic properties of the mobile robot, the adaptive control and the positioning method. Through the experiment, the control algorithm of the mobile robot is useful and the mobile robot has a good ability to adapt the outdoor environment. |
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