摘要
Based on the principle of kinematic Ackermannian steering, a speed design method of Ackermann electronic differential steering with wheel foot cooperative control is proposed to realize the smoothness and safety of turning the robot at low speed, which gives a kind of reference speed calculation method for the robot's four wheels, at different speeds and different front wheel angle to achieve the purpose of a stable turn. A sliding mode tracking controller is designed for each wheel speed so that the speed output of the four wheels is tracked by the respective reference values in real time to ensure the realization of the turning function of the wheeled robot. Finally, the simulation method is used to verify the effectiveness of the sliding mode control algorithm.
| 投稿的翻译标题 | Electronic Differential Control Strategy of Round Turn for Wheel-leg Robot |
|---|---|
| 源语言 | 繁体中文 |
| 页（从-至） | 1140-1146 |
| 页数 | 7 |
| 期刊 | Yingyong Jichu yu Gongcheng Kexue Xuebao/Journal of Basic Science and Engineering |
| 卷 | 26 |
| 期 | 5 |
| DOI | |
| 出版状态 | 已出版 - 1 10月 2018 |
关键词
- Cooperative control
- Electronic differential velocity
- Wheel-leg robot