Adaptive Robust Autonomous Obstacle Traversal Controller for Novel Six-Track Robot

The separate control method of flippers and the movement mass center makes active articulated tracked robot unable to realize higher-level motion difficult adapt rough complex obstacle terrain. In this paper, a new design distributed autonomous traversal controller for novel six-track is proposed. establishes unified framework that includes all degrees freedom so tracking error flipper can converge simultaneously achieve independently specific terrain or tasks. First, forward kinematics model differential are established generate 3D motion, including angular velocity body traction velocity. Then, drive extended into kinematic eliminate slip effect during traversal. Finally, feedback law system optimal solution singular position structure established. addition, several simulation experiments physical prototype in different terrains executed. virtual experiment, average trajectory about 0.029 m. compared manual remote prior art controller, norm reduced by 40.7% 13.5%, respectively; maximum 34.6% 19.9%, crossing time 21.3% 9.3%, respectively, they validate accuracy effectiveness designed controller.