Analysis on coupled optimization control for a wheel-legged robot

摘要

Stability and traction are critical to mobile robots cruising in uneven terrains. A small track-wheel-legged mobile robot was developed. Wheel-legged mode which combined wheeled and legged body with their respective merits of institutions became the most important one; correspondingly, three basic non-isolated control problems such as drive traction control, stability control and robot posture control were produced. In order to have good adaptability, high maneuverability of obstacle negotiation and high locomotion security, coupled optimization function was built and coupled optimization control was realized based on the comprehensive analysis of the stability and traction characteristics with wheel-legged locomotion, which can supply the coupled optimization criteria for stability and traction, and realize the posture optimization control of mobile robots, so that the robot has the abilities of maintaining relatively stability of the body over uneven ground and diminishing its slide, which make sure the robot have stable posture and good traction characteristics. And these abilities are of great significance to stable operation and vision control of the robot.