Design And Experiment Of Small Tracked Robot Attitude Correction System Based On Track Estimation

The working environment of the robot in the field is far worse than the urban environment,which is mainly reflected in the field environment.The road is complex and changeable,rugged,and the signal strength is weak.Therefore,in this environment,the difficulty of self-propelled crawler robots is increased.Aiming at the problems of self-propelled crawler robots that are easy to lose GNSS signals,large attitude fluctuations,and low tracking accuracy in rugged mountain environments,this paper studies the control methods of 3D rugged crawler robots on the basis of analyzing and comparing existing research.A three-dimensional sliding mode control(SMC)control strategy based on dimensionality reduction coefficients is designed and equipped with a path estimation navigation system.At the same time,it is theoretically derived,simulated and tested,and the control algorithm can not only be in a rugged three-dimensional state It can complete the scheduled work at the same time,and can also improve the tracking accuracy in the two-dimensional smooth road environment.The related work and conclusions completed are as follows:(1)On the basis of consulting the current research status at home and abroad,summarize and analyze the main work and shortcomings of the existing navigation control.Based on the existing research results,build a complete machine test platform and use stm32f407 as the micro control unit,And completed the selection of motor drivers and other components;(2)Analyze the kinematics model of the robot on the two-dimensional smooth road surface and the three-dimensional rugged road surface,and establish the dimensionality reduction kinematics geometric model and error equation;(3)Build a track reckoning(DR)navigation system and a sliding mode control attitude control system based on variable dimension reduction coefficients,and carry out path tracking simulation on smooth and rough roads.The simulation results show that the driving direction error gradually decreases and approaches 0 in the smooth road simulation,the lateral position deviation fluctuates within ± 20cm,and the attitude adjustment is completed within Is;the three-axis position error in the rough road simulation is controlled within ± 10cm Within the range,the attitude adjustment can also be completed within 1s.(4)Carry out the navigation and tracking test on the flat road and rough road.The lateral deviation of the robot after stable tracking fluctuates within-2.9～8.8cm and-14.3～21.5cm respectively,and the attitude error is controlled within ± 5° and ± 2 °Within,to meet the actual navigation and tracking needs.By establishing an attitude adjustment system based on track estimation,the purpose of controlling the tracked robot to complete path tracking and attitude adjustment on smooth and uneven rough roads is achieved.