Motion control of a wheel-leg-track compound mobile robot

A novel compound mobile robot named Jaguar is introduced, which is developed by our laboratory. Its mechanism and system component are presented, with the method of motion control as an emphasis. Modular design allows us to add and to change parts easily at the structural, hardware and software levels. To control different components of the robot, the embedded control system is used and the remote control makes the robot work practice. In order to overcome problems in motion control for robot Jaguar and parameter global tuning for PID controllers, fuzzy controllers are designed, and an angular velocity and course angle algorithm based on deflection angle of caster wheel and compass angle is presented. Experiments on the robot prove the effectiveness of the controller, which improves the operation, system adaptability and motion stability.