Six Legs Mobile Robot Motion Analysis And Control System

This project does research on a new rober-bogie mode of six-leg-wheeled intelligent mobile robot , this robot adapts terrain very well and has an ability of barrier-crossing. First this paper builds and analyses its quasi-static math mode . Then according to the influences the motion character and the environment factor expert on the robot, this paper does research on its coordinate moving capacity and adaptive capacity on various terrains, especially goes deep research into its barrier-crossing and bare-crossing actions and builds various barrier-crossing models, all of these do an academic preparation for the design of its motion controller.The keystone of this paper is the research on its control techniques. First, this paper discusses the modeling of perceptive system in detail, uses an improving Dempster-Shafer evidence theory to make a multi-sensor fusion of totally eight ultrasonic sensors. Second, path planning basing on fussy control is researched, which is the embodiment of intelligentized autonomous motion. For the demand that the robot could move on unstructured environment, this paper does research on the positioning system of the robot and furthermore designs a coordinate motion control algorithm of synchronous compensation. To satisfy the motion control, this paper designs a control system by using two SPCE061A single-chip microcomputer and a 89C51 single-chip microcomputer as the core, does pivotal research on the perceptive model of eight ultrasonic sensors , the driving model of fourteen DC motors and the synchronous coordinate control problem of multi-motor. Furthermore, this paper designs a special serial communication protocol among the three single-chip microcomputers to satisfy the control system's demand for real-time capability when communicating. This paper provides theoretic basic and technical instructions for design and research of the six-leg-wheeled intelligent mobile robot system.