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A steering control method for a wheeled mobile robot

A mobile robot and steering control technology, which is applied to electric steering mechanisms, power steering mechanisms, steering rods, etc., can solve problems such as inability to cope and inability to realize in-situ steering operations

Active Publication Date: 2021-05-14
SOUTHEAST UNIV
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  • 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

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  • A steering control method for a wheeled mobile robot
  • A steering control method for a wheeled mobile robot
  • A steering control method for a wheeled mobile robot

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Embodiment Construction

[0025] The implementation cases of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] 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 a wheel drive 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...

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Abstract

The invention discloses a steering control method of a wheeled mobile robot, which belongs to the technical field of robot automatic control. The invention is based on a four-wheel independently driven wheeled mobile robot platform to realize different steering of the wheeled mobile robot under different working conditions of low speed and high speed In this way, under in-situ steering or low-speed working conditions, the clutch is combined to lock the steering rod to ensure that the robot wheels have no steering angle, and the sliding steering of the robot is realized by controlling the different speeds of the left and right wheels; It can move left and right. At this time, by controlling the difference in the driving torque of the left and right wheels, the wheels are forced to turn to the side with the smaller driving torque, so as to realize the differential steering operation of the mobile robot. The invention can realize the best steering performance of the wheeled mobile robot under different speed working conditions, avoid the steering instability of the sliding steering under high-speed working conditions, and can combine the advantages of low-speed sliding steering and high-speed differential steering.

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

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Application Information

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Patent Type & Authority Patents(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
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