Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Steering control method for a wheeled mobile robot

A mobile robot, steering control technology, applied in power steering mechanism, electric steering mechanism, control drive and other directions, can solve problems such as inability to cope with, inability to achieve in-situ steering operation, etc., to improve steering maneuverability, improve steering performance, improve adaptive effect

Active Publication Date: 2020-06-05
SOUTHEAST UNIV
View PDF25 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this kind of steering method cannot realize the in-situ steering operation and has obvious limitations when turning at lower speeds
[0005] To sum up, in order to meet the steering performance requirements of wheeled mobile robots under different speed conditions, relying on one steering method alone cannot deal with various problems under different speed conditions.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Steering control method for a wheeled mobile robot
  • Steering control method for a wheeled mobile robot
  • Steering control method for a wheeled mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] The implementation cases of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] In order to achieve the best steering performance of the wheeled mobile robot under different working conditions, improve steering flexibility when turning in situ and low-speed steering, and maintain steering stability when turning at high speed, the present invention proposes a combination of sliding steering and differential steering. The advantageous wheeled mobile robot steering strategy solves the problem of steering instability due to the inability to provide sufficient driving torque difference due to slip steering during high-speed steering. A schematic diagram of the structure of a wheeled mobile robot driven by an in-wheel motor combined with sliding steering and differential steering. figure 1 shown. The flow chart of the steering strategy proposed by the present invention is as figure 2 As shown, the critical speed t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

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.

Description

technical field [0001] The invention relates to the field of robot automatic control, in particular to a steering control method for a wheeled mobile robot. Background technique [0002] The sliding steering mechanism is the most common steering control method used in various wheeled mobile robots. The sliding steering mobile robot can cancel the special steering mechanism, so the structure is simple and the space utilization rate can be improved. The wheels on both sides of the robot can be driven separately. By controlling the rotation speeds of the left and right wheels to be different, the wheeled mobile robot can be turned with different turning radii. When the rotation speed of the left and right wheels is equal and the direction is opposite, the robot can even turn in situ. Therefore, the skid steering method has better steering maneuverability under low-speed conditions, and can be better applied in an environment where the steering space is limited. [0003] Howe...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04B60L15/20B60K7/00B62D7/14B60K17/34
CPCB60K7/0007B60K17/358B60K2007/0038B60K2007/0092B60L15/2036B62D5/0418B62D5/046B62D7/14Y02T10/64Y02T10/72
Inventor 陈南曹铭聪李哲王金湘鲁秀楠张伦
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com