| This paper studies a six-wheeled autonomous mobile robot. First of all according to the robots' requirement of working on the complicated terrain, we have designed the configuration and parameters of six-wheeled suspension organization. Then introduce the configuration and function in detail. Secondly this paper also proposes the kinematic model of the robot' s front and rear four-wheel steering system, which we can know whether the configurable parameters of research robot are reasonable or not. It will also supply an absolutely necessary theory foundation to the design of the robot' s motion control system and the robot' s independent navigation. Thirdly, we use the ultrasonic sensor and design the equipment of obstruction detected. According to the theory of fuzzy control, we research the stepped and avoiding obstruction of the robot. In the end we use the software matlab and simulate movement of the robot. The six-wheeled autonomous mobile robot is the development of robots, and these researches are very important. And these researches also provide for the robot' s navigation, map building, information amalgamation and other technologies. |
PDF Full Text Request