Abstract
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.
| Translated title of the contribution | Electronic Differential Control Strategy of Round Turn for Wheel-leg Robot |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 1140-1146 |
| Number of pages | 7 |
| Journal | Yingyong Jichu yu Gongcheng Kexue Xuebao/Journal of Basic Science and Engineering |
| Volume | 26 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1 Oct 2018 |