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Adaptive steering sliding model control method of tracked robot as WSN mobile node

A tracked robot and mobile node technology, applied in the field of robotics, can solve problems such as difficult to meet the precise control of tracked robots

Inactive Publication Date: 2016-01-13
ANHUI AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a crawler robot adaptive steering sliding mode control method as a WSN mobile node to solve the problem that the existing technology is difficult to meet the precise control of crawler robots

Method used

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  • Adaptive steering sliding model control method of tracked robot as WSN mobile node
  • Adaptive steering sliding model control method of tracked robot as WSN mobile node
  • Adaptive steering sliding model control method of tracked robot as WSN mobile node

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Experimental program
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Embodiment Construction

[0083] The adaptive steering sliding mode control method of a crawler robot as a WSN mobile node includes the following steps:

[0084] (1), establish the motion model of the agricultural crawler robot:

[0085] like figure 1 As shown in the figure, in the agricultural crawler robot, the chassis is composed of the car body, two driving wheels, four road wheels, and two inducers, and the mobile platform is composed of the chassis and two tracks. Two DC servo motors drive the two tracks respectively. Adjust the positional relationship between the speed of the robot and the tracking trajectory by adjusting the input voltage of the servo motor;

[0086] Let B be the distance between the two driving wheels, θ is the angle between the robot's motion direction and the positive x-axis, point P is the intersection of the line connecting the robot center O and the turning arc's center A and the reference trajectory, and d is the robot's geometric center O The distance from point P, φ ...

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Abstract

The present invention discloses an adaptive steering sliding model control method of a tracked robot as a WSN mobile node. The fuzzy theory and sliding mode control are combined, the total control formed by equivalent control and switching control is constructed, the approximation control of approximation equivalent control and an adaptive rule capable of adjusting a control parameter is designed, the output control is adjusted in real time, and a controlled object is allowed to move along a designed 'sliding mode' trajectory purposefully. According to the method, the fuzzy control, the sliding mode control and the adaptive control are combined, the stability, rapidness and anti-interference ability of the system are obviously better than Smc control, and the method has a high engineering application value.

Description

technical field [0001] The invention relates to the field of robots, in particular to an adaptive steering sliding mode control method for a crawler robot as a WSN mobile node. Background technique [0002] Wireless sensor network technology has the characteristics of easy deployment, low cost, reliable communication and no invasive damage to the environment. Agricultural tracked robot (Atr) can complete fruit picking and information acquisition in unstructured farmland environment, and combine with fixed nodes in wireless sensor network to form a wireless sensor network integrating mobile and fixed nodes. Its own work can also solve the problem of network congestion or the failure of some nodes due to the failure of a certain node, which has broad application prospects. However, when the ATR is running, due to the elastic deformation of the airframe, parameter changes and external disturbances, the established motion model has a high degree of nonlinearity, strong coupling...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 焦俊辜丽川王强孔文王超沈春山马慧敏高雅袁晨晨
Owner ANHUI AGRICULTURAL UNIVERSITY
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