The invention discloses a
movement control method of a 2D (Two-Dimensional) wheeled
robot based on moveable foot wheels. Movement states of a
robot are continuously updated according to the followingprocedures: S1, confirming a target state of the
robot at a
present moment according to task demands; S2, representing overall movement of the robot as movement of a
mass point of a geometric center point P of a robot
chassis, and calculating a movement vector of the robot at the
present moment in a
global coordinate system according to the target state; S3, calculating rotation speeds ni of different wheels and included angles psi i of a wheel direction and the X axis of a partial coordinate
system of the robot according to the principle that a lateral direction of a wheel is not stressed; S4, adjusting states of the wheels according to the rotation speeds ni of different wheels and the included angles psi i, so as to control the movement of the robot. The method supports movement
modes of forwarding, transverse movement, inclined movement, rotation and combinations of the movement
modes of the robot and is applicable to
movement control on 2D wheeled robots with two and more
small foot wheels, and the wheels are small in sliding and high in movement stability and flexibility.