Analysis and motion planning for obstacle negotiation of tracked mobile robot

A kinematics model of the center of gravity (CG) position was set up based on the coordinate formula and robot kinematics. Then the change of CG in the process of climbing up an obstacle for tracked mobile robot was obtained by using this model, and the maximum height of the obstacle which can be climbed up was obtained. The margin of angle for stability was calculated. The relationship between the pitch angle of the robot and the height of the obstacle was obtained. From above analyses, the motion planning for climbing up the obstacle based on the margin of stability was presented. Experiments were conducted to verify the feasibility of established kinematics model and the motion planning.