Study On The Force Distribution Of Mobile Robot On Rough Terrain

Currently, the technology of mobile robot on the rugged ground has become a newresearch focus. Under the support of the National Natural Science Foundation of “Researchon the low energy transit control technology of wheeled robot on the rugged ground”, thisresearch project is mainly committed to the robot force distribution theory and practicaltechniques to adapt the rugged ground.First, referenced to the domestic and foreign research status and development trendson mobile robot control, this paper proposes a three-dimensional force distribution methodof the wheeled robot on the rugged ground in the case of an extremely low speed based onthe quadratic programming algorithm. Analyze the quasi-static force of mobile robot onrugged ground and obtain the spatial force distribution based on the quadratic programmingalgorithm considering the maximum allowed shearing force and ground angle to avoid theexcessive slip of the wheel. Simulate on the typical three-dimensional ground in MATLAB.Second, this paper optimizes the robot’s traction and energy consumption in themulti-objected optimization method considering the non-linear effects between the wheeland the ground and a variety of constraints of the robot’s traction and energy consumption.Simulate on the same typical three-dimensional ground and contrast the result with thesimulation based on the quadratic programming algorithm.Third, this paper proposes the judgment basis based on the mathematical model of therobot on the judgment theory of the dynamic energy stability to judge the motion stabilityof mobile robot. Prepare the theory for the motion control in future.Forth, this paper obtains the analysis results of the longitudinal associated stability indifferent conditions based on the static stability theory of mobile robot for the adaptationability to the longitudinal rugged ground of the sedan differential mechanism articulatedrobot.Fifth, this paper contrasts the traction optimization methods objected to theexperimental robot. In the same time, analyze the motion stability on the judgment theoryof the dynamic energy stability. There are nine experiments mainly on the hard groundincluding on plat ground, cross the obstacle in single wheel order or in double wheel order, on symmetric or asymmetric curved surface ground as well as on sandy ground includingon plat sandy ground, cross obstacle on sandy land and on random sandy ground to verifythe feasibility of the theory above.