Simulation study of steering control of the tracked robot based on slip and skid condition

摘要

The steering characteristic of tracked robot was mastered by analysing its steering principle. Under certain road conditions, the experiments of accurate steering control were finished by modifying the velocity parameters of two tracks. The relationship is gained between the speed of robot's tracks and the steering motion of the robot through analysing robot's steering-kinematic principles. Under the influence of slip and skid, the tracked robot's relativistic steering radius under actually conditions is larger than in ideal conditions. At last, the correctness of the tracked robot's steering control theory was verifies by simulation experiments of the steering movements along the line of its edge trimming.