Motion control of throwable robot on soft ground

Shuanglin Zhang; Changlong Ye; Suyang Yu; Yinchao Wang

doi:10.1117/12.3010723

1 December 2023 Motion control of throwable robot on soft ground

Shuanglin Zhang, Changlong Ye, Suyang Yu, Yinchao Wang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 1294010 (2023) https://doi.org/10.1117/12.3010723
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

The throwable robot can shift from a spherical robot to a mobile robot and perform the environmental survey mission while entering the working environment in this manner. In order to enhance the robot's environmental adaptability, a motion control system is proposed to address the issue that the driving wheel excessively slips while the robot drives on the soft ground. The control system consists of kinematic controller, dynamic controller and slip rate controller. Kinematic controller realizes track tracking. The mechanical model of wheel-terrain interaction is introduced into the design of dynamic controller to obtain the target slip rate while tracking the target speed. To avoid the drive wheel slipping excessively, the target slip rate is limited to a certain range. The slip rate controller can track the target slip rate. The simulation results show that the robot can successfully track the straight track and circular track and control the slip rate of the driving wheel in a limited range, which proves the effectiveness of the control method.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Shuanglin Zhang, Changlong Ye, Suyang Yu, and Yinchao Wang "Motion control of throwable robot on soft ground", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 1294010 (1 December 2023); https://doi.org/10.1117/12.3010723

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KEYWORDS

Kinematics

Control systems

Motion models

Design and modelling

Mathematical modeling

Motion controllers

Matrices

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