The invention discloses a steering control method for a wheeled mobile robot, and belongs to the technical field of robot automatic control. In the wheel type mobile robot platform based on four-wheelindependent driving, different steering modes, pivot steering or low-speed working conditions of the wheeled mobile robot under different low-speed and high-speed working conditions are realized, a clutch is combined to lock a steering pull rod so as to ensure that wheels of the robot have no steering angle, and sliding steering of the robot is realized by controlling different rotating speeds ofa left wheel and a right wheel; under the high-speed working condition, the clutch is separated to ensure that the steering pull rod can move left and right, and the wheels are forced to rotate towards the side with small driving torque by controlling different driving torques of the left and right wheels, so that differential steering operation of the mobile robot is realized. The optimal steering performance of the wheeled mobile robot under different speed working conditions can be achieved, steering instability of sliding steering under the high-speed working condition is avoided, and theadvantages of low-speed sliding steering and high-speed differential steering can be combined.
本发明公布了一种轮式移动机器人转向控制方法,属于机器人自动控制技术领域,本发明基于四轮独立驱动轮式移动机器人平台,实现轮式移动机器人在低速和高速不同工况下的不同转向方式,原地转向或低速工况下,离合器结合将转向拉杆抱死以保证机器人车轮无转向角产生,通过控制左右轮转速不同来实现机器人的滑动转向;高速工况下,离合器分离保证转向拉杆可左右移动,此时通过控制左右轮驱动力矩不同迫使车轮往驱动力矩小的一侧转动,从而实现移动机器人的差动转向操作。本发明能够实现轮式移动机器人在不同速度工况下的最佳转向性能,避免了滑动转向在高速工况下转向失稳,可以结合低速滑动转向和高速差动转向的优势。
Steering control method for a wheeled mobile robot
一种轮式移动机器人转向控制方法
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Steering chassis of wheeled mobile robot and control method thereof
European Patent Office | 2024
|Steering control method for four-wheeled independent steering vehicle
European Patent Office | 2015
|Automatic zero setting method for steering wheel of wheeled robot
European Patent Office | 2025
|