| Zhao Jie (赵杰),Han Zhenfeng,Liu Gangfeng,Liu Gang,Zhu Lei.[J].高技术通讯(英文),2013,19(1):1~6 |
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| Fuzzy steering control to serpentine tracked robots in unknown environment |
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| DOI： |
| 中文关键词: |
| 英文关键词: serpentine tracked robot （STR）, steering control, track curvature, side slip angles, stable turning modes |
| 基金项目: |
| Author Name | Affiliation | | Zhao Jie (赵杰) | | | Han Zhenfeng | | | Liu Gangfeng | | | Liu Gang | | | Zhu Lei | |
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| 中文摘要: |
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| 英文摘要: |
| To solve the problem of multi-turning attitudes, unknown ground parameters and complex skid-steering control for serpentine tracked robots (STR), a fuzzy control method based on the estimation of track curvature and side slip angles is proposed. Based on the track-ground interaction, mathematical models are established for stable turning in the way of recursive homogeneous transformation. The navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate joints. Then attitude models in turning control are studied and summarized. Transforming strategies of attitude models are optimized. Based on the strategies, an adjustable fuzzy controller is designed. In the controller, an estimator is set to solve the problem of unknown and variable universe. The estimator predicts the track curvature by metabolic linear least squares estimate. Experiments have verified the feasibility and validity of the controller. |
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