The invention provides a wheel-step composite mobile platform control system and a control method thereof. The system comprises an upper computer which comprises a data collection module, a data storage module, and an advancing mode decision module, and is used for sensing the environment, collecting environment data, and making a decision; and a lower computer which comprises a motion control module which is used for executing the decision of the upper computer and comprises a wheel type driving control module and a step type driving control module, wherein the upper computer communicates with the lower computer through a robot operating system. According to the wheel-step composite mobile platform control system and the control method thereof provided by the invention, the mobile platform has a gait control function on the basis of a vehicle form, and the platform keeps high efficiency in advancing in different fluctuating cross-country environments through switching control of operation modes.
本发明提供一种轮步复合移动平台控制系统及其控制方法,上位机,包括数据采集模块、数据存储模块、行进模式决策模块,功能为通过对环境的感知,收集环境数据,做出决策;下位机,包括运动控制模块,功能为执行上位机的决策,包括轮式驱动控制模块与步式驱动控制模块;上位机与下位机之间通过机器人操作系统进行通信。本发明提供的轮步复合移动平台控制系统及其控制方法,令移动平台在车辆形态的基础上,兼具了对步态的控制功能,通过对运行模式的切换控制,使得平台在不同起伏的越野环境下保持行进的高效性。
Wheel-step composite mobile platform control system and control method thereof
一种轮步复合移动平台控制系统及其控制方法
2021-09-21
Patent
Elektronische Ressource
Chinesisch
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