Abstract
The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.
Highlights
In recent years, there has been a strong demand for the mobile robots operating on uneven surface [1]
In order to keep the body remain level when it stands on the uneven road, the kinematic model of the robot leveling system is achieved based on the kinematic equations
With the new leveling algorithm, a special PID control strategy is applied to the leveling system
Summary
There has been a strong demand for the mobile robots operating on uneven surface [1]. Such equipments have found numerous applications in a wide variety of arenas such as exploration of extraterrestrial, rough unprepared and sharp slope environments [2, 3]. With the development of the control technology, automatic leveling system has made great progress [14, 15]. Due to the special character of the robot, the kinematic model is different from the traditional four-legged structures. According to the new kinematic model and the classic PID controller, an improved leveling system which has good performance on the leveling efficiency is achieved
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