Planetary wheel type obstacle crossing robot stair climbing control method

Abstract

The invention discloses a planetary wheel type obstacle crossing robot stair climbing control method. The planetary wheel type obstacle crossing robot stair climbing control method comprises the following steps that (1) an obstacle crossing robot keeps moving forwards at a constant speed linearly, the distance between two planetary wheel sets of the same driving set and a step in the front as well as the rotating speed of the planetary wheel sets are measured, and the deflection angle is calculated; (2) the theoretical rotating speed of both the planetary wheel sets is calculated, and the planetary wheel sets move at the calculated rotating speed; (3) the L1 and the L2 in the current are detected, and the current deflection angle theta is calculated; (4) whether the current deflection angle theta exceeds the preset value or not is judged, if yes, the step (2) is executed again, and if not, the robot is controlled to continue to move forward at the constant speed linearly; (5) whether the two planetary wheel sets arrive at the step or not is judged, if not, the robot continues to move forward at the constant speed linearly, and if yes, the two planetary wheel sets turns over together to cross the step; and (6) whether the two planetary wheel sets arrive at the destination or not is judged, if yes, the steps from (1) to (5) are repeated, and if yes, the robot is stopped moving. The planetary wheel type obstacle crossing robot stair climbing control method has the advantages that control operation is simple, and the steering precision is high.

Description

technical field

[0001] The invention belongs to the field of robot control, and more specifically relates to a method for controlling the climbing of stairs by a planetary wheel type obstacle-surmounting robot. Background technique

[0002] With the development of science and technology, people increasingly need robots to work in many harsh environments, such as planetary surface exploration, firefighting, fire detection, detection of toxic, flammable and explosive places, and unmanned battlefields. The complex, unknown, and changeable unstructured environment puts high demands on the robot's ability to overcome obstacles. The obstacle-breaking robot should have good adaptability, stability and flexibility. Therefore, the research and development of the control of the obstacle-breaking robot has extensive Application prospects.

[0003] Existing types of obstacle-crossing robots have their own advantages and disadvantages: wheeled obstacle-crossing robots are simple in stru...

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