分布式驱动—转向多级铰接移动机器人构形设计及控制方法OA

The articulated mobile robot platform has the advantages of large carrying capacity and flexible module com-binations,but it faces prominent issues such as poor trafficability and internal stability,which limit the transport scenarios and efficiency.A multi-body articulated mobile robot platform equipped with distributed driving and steering devices and its control methods are designed.Firstly,a distributed steering and driving deployment scheme for full-trailer with front axle driving and rear axle steering is proposed based on the recursive kinematic and dynamic characteristics of the multi-body articulated platform.Secondly,a modular feedback control algorithm based on kinematic deduction and coordinate trans-formation for trailer rear-wheel steering is designed to address the poor trafficability resulting from the large turning swept area of the multi-body articulated platform,which achieves the same path following of articulated platform.For the poor internal stability in the multi-body articulated platform,a distributed drive control method based on the fusion of feedforward and feedback is designed,which achieves the coordinated stable operation of the articulated platform in high-speed steering,braking,and other potentially unstable conditions.Finally,simulations and physical experiments on a four-body articulated mobile robot platform are carried out.The experiments show that the distributed rear-wheel steering reduces the maximum trajectory deviation of the trailer from the towing vehicle by approximately 93％.Coordinated drive control increases the maximum stable driving speed of the platform from 8 m/s to 14 m/s at a steering angle of 0.1 rad,and improves the linear braking deceleration from-1 m/s2 to-4 m/s2.