Steering Dynamics and Path Tracking Control of Wheel-Legged Robot

During the steering process of the traditional skid steering robot, the longitudinal force and lateral force of the wheel are large, and the tire wears quickly. Based on the wheel-legged robot designed by the research group, combined with the advantages of legs and wheels, this paper proposes a steering method that shortens the inner wheelbase during steering. Under the same motion path, it can effectively reduce the tire longitudinal force during steering, and improve steering stability. In order to realize autonomous tracking under the condition of changing wheelbase, a path tracking algorithm is designed using sliding mode control and PID control. The longitudinal force of each wheel is solved by quadratic programming algorithm, and the stable tracking of the desired path is realized.