Research On Maneuverability Of Wheeled Mobile Robots And Realization Of An Experimental Platform

Maneuverability has an important position among some applications of mobile robots.Whereas,how to calculate the degree of maneuverability is rough and need to be refined.In the thesis,the maneuverabilty of traditianal WMRs(Wheeled Mobile Robots)is studied and then an experimental platform is built.The research work and conclusions are mainly as follows,(1)It is analyzed how to determine the degree of maneuverability of WMRs in general.And it is pointed out that maneuverability is related to the distribution of ICR(instantaneous center of rotation),the ability of changing the positions of ICR,the continuity of the positions of ICR,and the minimum turning radius.Furthermore,it is proposed how to compare the degree of maneuverability of WMRs based on ICR.Several types of WMRs are as examples and the formulas on behave of their maneuverability are given.(2)An four-wheel-independent steering and four-wheel-independent driving WMR is built according to the results of the above result of maneuverability.The four wheels of this WMR are able to steer without limit since it makes use of through-hole conductive slip rings,photoelectric home sensors and incremental encoders.The structural parameters of the platform are used to calculate its maneuverability index value,and its maneuverability is improved.(3)Now that this four-wheel-independent steering and four-wheel-independent driving WMR can configured into different types,the kinematic models of different types are established.Simulation experiments are compled and prove the models correct.