Tracked Mobile Robot Interaction Characteristics Of The Ground

This thesis mainly discusses the interaction characteristics between tracked mobile robot and terrain. The track-joint robot developed by ourselves is the research prototype.Most of the researches on mobile robot right now mainly focus on navigation and localization, motion planning and control, robot vision and multi-sensor data fusion. But motion control is the fundamental technology among this area for it is hard to get an effective control on rough terrain. So it is very important to understand more about the vehicle responses to different kind of terrains. And the real-time acquisition of accurate soil parameters will enable a robot to autonomously achieve accurate traversability prediction and effective traction control. There is few people focus on this subject so far at home, and it is the first time to research the interaction characteristics between tracked mobile robot and terrain.Firstly, the terrain classification and characterization and the major terrain trafficability factors which influence ground vehicle mobility are discussed. And a soil model based on Vehicle- Terramechanics which leads to a way for identifying soil parameters is presented. Then the kinematic model and dynamic model of the tracked mobile robot based on the force model are worked out. Then a simulation is run on different kinds of soil by the mobile robot taking advantage of the kinematic model. And it reveals that the slip is a link between the soil and the tracks of the vehicle. Lastly, a mathematical model of track-wheel-terrain interaction is presented herein to support the dynamic simulation of tracked vehicles. A simulation about the vehicle responses to hard ground and soft soil is then run using MSC.ADAMS. The result is meaningful for higher layer application and further researches.