Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1-6 |
| Number of pages | 6 |
| Journal | High Technology Letters |
| Volume | 19 |
| Issue number | 1 |
| DOIs | |
| State | Published - Mar 2013 |
Keywords
- Serpentine tracked robot (STR)
- Side slip angles
- Stable turning modes
- Steering control
- Track curvature
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