Abstract
Because wheeled mobile robots have so many applications in warehouse logistics, improving their ability to adapt to the environment has been the subject of extensive research. To enhance the traffic and obstacle avoidance capabilities of wheeled robots, a wheeled mobile robot with a transformable chassis is proposed in this article for use in an automated warehouse. The robot can not only move in all directions but also change its chassis structure according to the specific warehouse environment. First, the robot structure is designed, and the motion modes of the robot are analyzed. After kinematics analysis is performed, a kinematics model is presented. In addition, with the goal of trajectory tracking and indoor positioning, a sliding mode controller and an extended Kalman filter controller are designed. Then, the effectiveness of the kinematics model and the controller design is verified by computer simulation. Finally, a physical prototype of the robot is built and the effectiveness of the robot is demonstrated through experiments.
Highlights
In recent years, logistics robots are applied widely in the automated warehouses to make the transport of goods more efficiently.[1]
A new type of wheeled robot with a transformable chassis is proposed for the first time
A wheeled robot with a transformable chassis is proposed in this article
Summary
Logistics robots are applied widely in the automated warehouses to make the transport of goods more efficiently.[1] in the context of increasing demand for transportation robots, innovative improvement of their structural characteristics is a key focus of current research. In order to improve the maneuverability of robots, researchers have recently proposed a variety of robots, including one kind of robot that relies only on its wheels to realize its mobility. In 2019, Li et al.[2] designed a master–slave parallel intelligent mobile robot for the autonomous transportation of pallets in the factory logistics. The mobile robot is a combination of two sub-robots with no physical connection. Ren et al.[3] proposed a state observer for friction compensation of a three-wheeled omnidirectional mobile robot (OMRs). OMRs have higher maneuverability than nonholonomic mobile robots
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