Active wheel following control method and system for planet probe vehicle and planet probe vehicle

A planetary exploration vehicle and control system technology, applied to extraterrestrial vehicles, motor vehicles, aerospace equipment, etc., can solve the problem of high energy consumption of the driving wheels of wheeled mobile robots, and achieve the goal of reducing internal force confrontation and high moving efficiency Effect

Active Publication Date: 2020-09-01
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method not only has the difficulty of establishing an accurate model, but also ignores the energy consumption problem caused by the internal force confrontation between the wheels in order to improve the traction capacity of the planetary exploration vehicle, resulting in high energy consumption of the driving wheels of the wheeled mobile robot

Method used

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  • Active wheel following control method and system for planet probe vehicle and planet probe vehicle
  • Active wheel following control method and system for planet probe vehicle and planet probe vehicle
  • Active wheel following control method and system for planet probe vehicle and planet probe vehicle

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Embodiment Construction

[0034] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0035] If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. Significance or implicitly indicates the number of technical features indicated.

[0036] An embodiment of the present invention provides a method for actively following the wheels of a planetary exploration vehicle, the method comprising:

[0037] Adjust the speed of the support wheel to make the real-time hook traction F of the support wheel x Approaching target hitch traction F xd, so as to reduce the driving force and resistance of the support wheels to the planetary exploration vehicle, so that the support wheels are used to provide support for the vehicle body of the planetary e...

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Abstract

The invention provides an active wheel following control method and system for a planet probe vehicle and a planet probe vehicle, which relate to the technical field of robot control. The method comprises the following steps that one or more wheels of the planet probe vehicle is optionally selected as supporting wheels, the rotating speed of the supporting wheel is adjusted, so that the real-timehook traction force Fx of the supporting wheel approaches the target hook traction force Fxd, the driving force and the resistance of the supporting wheel to the planet probe vehicle are reduced, andthe supporting wheel is used for providing supporting force for the planet probe vehicle body. By the adoption of the method, the supporting wheels only provide supporting force for the vehicle body,under the conditions that the number of the wheels is increased and the average load of the wheels is reduced, internal force confrontation between the wheels is reduced, and the planet probe vehicleis ensured to have high moving efficiency.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a wheel active following control method of a planetary exploration vehicle, a control system and the planetary exploration vehicle. Background technique [0002] Wheeled mobile robots are widely used in the exploration of celestial bodies such as the moon and Mars. The soft and rugged terrain on the surface of these celestial bodies poses a huge challenge to wheeled mobile systems. Increasing the number of wheels can reduce the average wheel load, reduce wheel sinking and slippage, but it will lead to redundant control and energy consumption of multi-wheeled mobile robots. When the wheels of the planetary exploration vehicle are in different terrains, the motion states of each wheel are different, resulting in a large internal force confrontation, resulting in a decrease in the movement efficiency of the planetary exploration vehicle. Therefore, the coordinated control bet...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/16B64G1/24B64G1/22
CPCB64G1/16B64G1/24B64G1/22
Inventor 杨怀广齐华囡廉文浩黄澜高海波邓宗全尤波丁亮
Owner HARBIN INST OF TECH
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