Planetary exploration vehicle wheel active following control method, system and planetary exploration vehicle

A planetary exploration vehicle and control system technology, applied in the field of control systems, planetary exploration vehicles, and planetary exploration vehicle wheel active follow control methods, can solve the problem of high energy consumption of the driving wheels of wheeled mobile robots, reduce internal force confrontation, The effect of high mobility efficiency

Active Publication Date: 2022-01-04
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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  • Planetary exploration vehicle wheel active following control method, system and planetary exploration vehicle
  • Planetary exploration vehicle wheel active following control method, system and planetary exploration vehicle
  • Planetary exploration vehicle wheel active following control method, system and planetary exploration 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 following control method, a control system and a planetary exploration vehicle of a planetary exploration vehicle, which relate to the technical field of robot control. The method for actively following the wheels of the planetary rover includes the following steps: optionally, one or more wheels of the planetary rover are used as support wheels, and the rotational speed of the support wheels is adjusted to make the real-time hook traction force F of the support wheels. x Approaching target hitch traction F xd , so as to reduce the driving force and resistance of the support wheel to the planetary rover, so that the support wheel is used to provide a support force to the body of the planetary rover. By adopting this method, the support wheels only provide support force to the vehicle body, and under the condition of increasing the number of wheels and reducing the average load of the wheels, the internal force confrontation between the wheels is reduced, and the planetary exploration vehicle has a 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 Patents(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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