Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain

He Xu, X. Z. Gao, Yan Xu*, Kaifeng Wang, Hongpeng Yu, Zhen Li, Khalil Alipour, Ozoemena Anthony Ani

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)

Abstract

For wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain has rarely been considered. This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make the best of the rest of the driving force, robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure. Thirdly, sliding mode control based on back-stepping is adopted to enable the robot achieve continuous trajectory tracking with visual feedback. Finally, the efficacy of the presented approach is verified by simulations and experiments.

Original languageEnglish
Pages (from-to)2076-2096
Number of pages21
JournalRobotica
Volume35
Issue number10
DOIs
Publication statusPublished - 1 Oct 2017
MoE publication typeA1 Journal article-refereed

Keywords

  • Configuration transformation
  • Continuous mobility
  • Driving failure
  • Rough terrain
  • Visual feedback
  • Wheeled mobile robots

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