| Currently, the mobile robots are playing an increasingly important role in civilian and military applications. The use of mobile robots to perform high-intensity and high-risk field reconnaissance mission is increasingly becoming a trend. In the area where people are unknown and unable to enter, choosing a robot with higher trafficability to carry environment detection can reduce the casualties and showed great superiority. It can be widely used in disaster relief, military reconnaissance and other fields.The main contents is the research on reconfiguration algorithm and motion control technology, including reconfiguration mechanism, gait planning, motion control and autonomous obstacle avoidance based on fuzzy control. The details of this paper are as follows:Firstly, this paper described the prototype, proposed design goals of the control system and analyzed the reconfiguration mechanism of the wheels. The gait of reconfigurable wheel robot was planned and its unique diagonal and bound gait was designed after analyzed quadruped robot’s movement principle. Then the overall control scheme of the system was designed. It laid the foundation for the motion control of the robot.Secondly, for the feature that the robot can adapt to a variety of ground environments through different gait, the reconfiguration algorithm of wheels and conversion method between different gait were studied.Thirdly, this paper focused on the robot walking control algorithm and steering control method of different gait. Then, the autonomous obstacle avoidance algorithm was studied based on fuzzy control.Finally, the vehicle control unit and remote operation unit of the reconfigurable wheel robot were designed, including driver module, control module, sensing module and human-computer interaction interfaces. On the basis of the implementation of the system, each module of the system was debugged and robot motion control experiment was conducted to test the effectiveness of the system. |
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