An innovative reconfigurable mobile robot with multi-maneuver modes

摘要

A mobile robot prototype with independent propulsion and individual steering (4WD4WS)has been developed. The mission-oriented mobile robot has the adaptability of terrain, sensors and payload with the scope of 20 kilograms. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin and altitude of center of gravity can be achieved by reconfiguration. A wheel with high trafficability on sand terrain can be achieved by reconfiguration with bionic features. The hardware of control system of robot with PC104, network-based motor suite, the management module system (MCS) and the monitor software based on networks have laid foundation to the implement of the hierarchical parallel competitive control architecture, system integration for the mechatronic device in close space, the on-line distributed power management and the motion control.