Resarch and design of control system for a tracked robot with a Kinect sensor

摘要

The paper displays a tracked robot that is capable of moving on pavement of any types. With Kinect's in-depth info, the tracked robot can recognize pavement of any special kinds such as a ramp. In this paper, we use the example "recognizing a ramp and climbing it on an unknown pavement" to confirm the way to control a tracked robot. Four modes, a searching mode, a aligning mode, a closing mode and a climbing mode, are proposed to achieve the goal. Intelligent Fuzzy Controller is used here to reduce the cost of computing, increasing efficiency and have an ideal controlling effect.