Motion Planning and Control of Wheel-legged Robot for Obstacle Crossing

Abstract

The purpose of the current work is to find a concept for an ATV sized unmanned vehicle which would easily overcome obstacles like steps and slopes. The work is written from a machine's designer's point of view. The following concept has been chosen for the vehicle: a four-wheeled vehicle with articulated suspension platform which is able to change its height, support polygon, as well its gravity centre in relation with the polygon. Hub motors are considered for a default design and an overview of some theoretical possibilities of the vehicle are given. Analogical vehicles which use similar articulated suspensions at least as prototypes are also briefly described. A general overview of their working principles has been brought out. The control of active suspensions and steering of vehicles are not discussed in the current paper.