Analysis And Motion Control Of An Out-door Mobile Robot With Foldable Wheels

Wheeled mobile robots have the advantage of moving smoothly and fast. Wheeledstructures are widely used in mobile robots because of their characteristic of high speedand efficiency, while their remarkable weakness is the inadequate obstacle negotiatingperformance.Considerable research has been done on wheeled structures to improve themobility performance of wheeled mobile robots.In this paper,we put forward theout-door mobile robot with foldable wheels.The robot expands the application rangeand improvs obstacle-navigation performance of the wheeled robot. This paper focuseson the developable wheeled robot, and also analyze and study its motion control.In this paper, we firstly put forward the integrated design scheme of the out-doormobile robot with foldable wheels, including the movement of the robot mechanismdesign, the general layout of robot system and drive system design.The robot controlhardware and software system is absolutely necessary.Secondly, the out-door mobile robot with foldable wheels kinematics and dynamicsmodel is set up and analyzed, we research the robot trajectory control and put forwardthe differential control strategy. The robot kinematics model is established, themovement of the robot trajectory control and differential control strategy is proposed.The process of moving is four-axis driven, by the same time we get the kinetic equationabout the out-door mobile robot with foldable wheels.The sensor system has carried onthe multiple information fusion technology research, and the obstacle avoidance controlalgorithm has proposed.Finally the robot’s prototype experiments are carrived out, including thetradeability, the position of mass changes on the impact of traction,the experiment aboutavoiding obstacles.we verify the out-door mobile robot with foldable wheels has astrong adaptability and the feasibility of the motion control algorithm.