| This paper studies a six-wheeled autonomous mobile robot. According to the robots' requirement of working on the complicated terrain, we have designed the configuration and parameters of six-wheeled suspension organization, the kinematics model of the robot is proposed, on which the reliable and steady trajectory tracking control algorithm is designed using the method of Backstepping. We can see that the control algorithm has a good non-linear global stabilization via simulation. To take account of the transverse and turning slippage and the relationship between all the wheels and the ground on the uneven terrain, this paper has deduced the forward and inverse kinematical of six-wheeled suspension mobile robot using the method of D-H Coordinate Transformation, which will supply a absolutely necessary theory foundation to the design of the robot's motion control system and the robot's independent navigation. This paper also proposes the dynamics model of the robot's front and rear four-wheel steering system, on which this paper analyzes reliable and dynamic characteristic of the robot. We can know that the configurable parameters of research robot are reasonable according to the reliable characteristic analysis. Comparing to the proportional controller, the traditional feedback-feedback composite controller and the improved feedforward-feedback composite controller, we can see that the improved feedforward-feedback composite controller is effective by simulation. Finally, considering that the robot will move on uneven terrain to complete complicated tasks, this paper proposes an ideology of actively-suspension control based on stability, which inducts the steady angle relating to the stability of the robot. The results of this paper supply a absolutely necessary theory foundation to the design of the robot's motion control system and the robot's configuration. And the method of modeling may be applied to another wheeled mobile robot. The research presented on this paper is valuable to the development of the wheeled mobile robots. |
