Planning and control of MOBIT’S obstacle negotiating

In this paper we describe the planning and control of obstacle negotiating of MOBIT, which is targeted to applications in various hazardous environments to carry out military and civilian missions. The planning and control for MOBITpsilas obstacle negotiating have some individualities because of its multi-locomotion modes and special negotiating methods. Considering the interaction factors between robot and obstacles during passing through the obstacles, the characteristics of obstacle terrain are analyzed and the typical obstacle such as step, convexity, ditch, slope, are chosen to analyze its planning and control of obstacle negotiation. Different control equations are derived based on its obstacle negotiating locomotion sequence respectively, and its key parameters are revealed, which present its capabilities of robotpsilas obstacle negotiating that can be used for autonomous motion control of robot operating with different obstacle terrains.