Topological Analysis and Control on Mobile Robot with Partially-Failed Propulsive Wheel

The issue how to make a mobile robot with some partially-failed propulsive wheels continuously navigate to its goal is rarely discussed. Based on a mobile robot with four individual propulsive wheels accompanied by corresponding independent steering devices, a novel control strategy with topological transformation on locomotion actuation is investigated to produce a desired motion. Some prototypes with different distribution of partially-failed propulsive wheels are analyzed. A new criterion for the motor selection is given to assure the trafficability in case of partial failure for propulsive wheels. Results from tests are presented to demonstrate the feasibility of proposed scheme.