Research Of Motion Control Of Mobile Robot With Jumping Function

The two wheel robot as a new kind of the mobile robot has the advantages of small turning radius, flexible control etc. It is a very useful application in the military, industry and life.However, this kind of robot also has the problems that robots’ obstacle climbing and climbing ability is insufficient and the motion control of the obstacle climbing and climbing is difficult. For the purpose to solve these problems, combined with the developed spherical robot and the two wheeled jumping robot, we carry on the simulation and experiment, The research contents are as follows:1. The control analysis is worked on this mobile robot with jumping function. The control strategy of the slope movement of the robot is established, for the control objects two wheeled robot with jumping ability, the dynamic model and the slope motion control strategy is built. The control effect of the control strategy of the slope movement is verified through simulation and the experiment.2. The obstacle navigation control analysis is worked on this mobile robot with jumping function. The dynamic model is built, and the fuzzy sliding mode controller of the jumping preparation stage is built. The dynamics analysis of the jumping phase of the two wheeled robot is built. The kinematics analysis and the obstacle surmounting trajectory of the robot according to the size of the obstacle is worked out. Combined with the prototype parameters of the two wheeled robot with jumping function, the simulation is finished in Matlab software to prove the effectiveness of the control strategy.3. The jumping obstacle control paltform of the jumping robot is built. The robot obstacle navigation control experiment is carried on and the results prove the effectiveness of the control method.