Trajectory-tracking and Coordinated Control of Six-wheel-drive Rocker-bogie Patrol Robot

摘要

This paper presents a method of hybrid trajectory tracking and coordinated control for a multi-drive patrol robot. In order to realize automatic inspection under complex terrain, a six-wheel-drive rocker-bogie suspension is used in this robot. Then, a hierarchical motion controller is designed with emphasis, where hybrid PD control and LQR optimal control strategies are used in top layer to achieve high-precision trajectory tracking, and a multi-drive coordinated control strategy based on robot position-orientation and rocker-bogie angles in its bottom. On this basis, simulations were carried out on self-designed robot. It shows that the motion control strategies can obtain high trajectory-tracking accuracy and effectively reduce the power loss of multi-drive system.