Research On Tracking Control Of Mobile Robot Based On Wheel-soil Interaction Modeling

In recent years, along with the upsurge of the outside star survey, field work,polar inspection scientific research, under extreme environment the research of thespecial robotics have became the research focus of robotics. In special robot,wheeled motion robot because move nimbly, high reliability, the mechanism simpleand so on, obtained the widespread application in scientific research duties of starsurvey, field work, polar inspection. But as a result of the duty environmentparticularity, the wheeled motion robot must adapt in the soft rugged terrain hadbeen decided. Mobile robots move in soft rugged terrain producing the longitudinalslipping and the sideways skidding question, which proposed a new difficultproblem for moved robot control. Based on the wheel-soil interaction theory andadvanced control theory, trajectory tracking control problem for the mobile robotunder the soft terrain environment, had been researched deeply. The main researchresults are as follows:Based on the wheel-soil interaction analysis, the physical model for robotcontrol had been established when mobile robot move in the soft terrain. Thetradition mechanics integral models for wheel-soil interaction are too complex, alsoin the model has many dynamic and unknown parameters, difficult for directly useto robot controller design. This article by the experimental method analysed theperformance of robot moving in soft terrain and determined the keen parameters inthe mechanics integral model, simplified the mechanics integral model for analyticalmodel which used for robot controller design, confirmed the rationality of thesimplification analytical model through the experiment, finally use Newton-Eulermodeling method, taking the simplification analytical model in the wheeled robotsystem kinematics, dynamics model, obtained the system dynamics and thekinematics model for control robot in soft terrain.The research of the wheeled robot trajectory tracking control which take the“the longitudinal slipping” and “the sideways skidding” into consider had been done.When the wheeled motion robots move in the soft terrain, the affect of “thelongitudinal slipping” and “the sideways skidding” may be produced. This articlebased on wheel-soil interaction analyzed the tradition robot control (no consider“longitudinal slipping” and “sideways skidding”) can not guarantee the controlperformance when the “the longitudinal slipping” and “the sideways skidding”appeared. Based on a consideration of dynamics and the kinematics model andnon-linear control theory, this article design the track controller which is stable,robust and the antigambling for robots moving in soft terrain, such as the outside star survey, the field work, the polar inspection motion.Based on RoSTDyn simulation system soft, slope and soft rugged terrainmotion control synthesis simulation and result analysis. This article take the typicalmode terrain such as the soft plane terrain, the soft slope terrain, the soft roughterrain into the robot control synthesis simulation, and transform the control law intothe c++language, then insert to the simulation system RoSTDyn, through the outputresult analysis of the move performance confirm the control strategy good stability,robust and interference suppression ability.