Simulation of Mobile Robot Wheel Speed Control Based on Dual Constraint Conditions
Because of the high risk of slipping during the steering process of high-speed wheeled mobile robots,if the wheel speed cannot be well controlled,accidents are likely to occur,resulting in incalculable losses.To this end,this paper presented a method of automatically controlling wheel speed for high-speed wheeled mobile robot.At first,we constructed a kinematic model of mobile robot in the global inertial coordinate system,and then analyzed the phe-nomenon of slipping and non-slipping during the turning process,thus obtaining the constraint conditions for the speed and acceleration.Moreover,we established a resultant moment for the target amount of wheel speed control,and assigned a torque value to each wheel.Furthermore,we set an upper limit to maintain the wheel speed within a rea-sonable range.Finally,the torque value of each wheel was inferred from the resultant moment distribution strategy,and then the wheel speed control amount of each wheel was derived from the torque value,thus achieving the automatic control for robot wheel speed.Simulation results show that the proposed method has good control effects on speed and acceleration,and can make the robot operate more safely and stably.
High-speed wheeled mobile robotAutomatic control of wheel speedAcceleration constraintsKi-nematic model
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