Terrestrial Locomotion And Control Technique Of Miniature Land-air Hybrid Robot

Scout robots have been widely used in modern warfare, however, the fast-paced andhigh-intensity future war raised even higher requirements for the robots, that traditionalstructure scout robot is difficult to reconcile the contradictory between portability andmobility. Therefore, aimed at urban area and indoor environment, this paper designed aminiature land-air hybrid robot, to improve the robot’s obstacle-crossing performance incomplex environments.First, based on the study and analysis of the domestic and international air-groundhybrid robot, proposed the overall layout that intergate four-wheeled robot and quadrotorhelicopter. Designed the robot’s mechanical structure for terrestrial locomotion, thenconstructed the terrestrial locomotion control system based on DSP28335MinimumSystem.Secondly, established the dynamics and kinematics model for terrestrial locomotion. Inorder to estimate robot’s motion state, designed the square root spherical simplex unscentedkalman filter based on improved Kalman filter algorithm. Performed simulation experiment,results showed that the filter can accurately estimate the state of the robot in motion.Then, since the constraints between ground and robot is nonholonomic when the robotmoves in terrain, the control system was seted up in order to make the robot moves properly.To take both advantages of PID control and fuzzy control mothed, the fuzzy-PID controllerwas designed. Then simulation experiment was performed, results showed that thecontroller can effectively control the robot.Finally, based on the developed prototype, a series of experiments, for example,going straight, turning, climbing in ground mode, and cross stair, flying over stairs andbushes in air mode, along with other functions was proformed, results showed that thedesigned controller can effectively control the movement of the robot, and the prototyperobot has a good ground maneuvering and obstacle-crossing capability.