Maneuver Control of Mobile Robot Based on Equivalent Instantaneous Center of Rotation in Rough Terrain

The maneuver control strategy of mobile robot with four steered independently driven wheels (4WS4WD) in rough terrain is rarely discussed. In this paper a approach of projection is adopted to get the equivalent maneuver radii and equivalent steering angles of a 4WS4WD mobile robot based on a arbitrary equivalent Instantaneous Center of Rotation-EICR, and the EICR is a vertical line on the plane of the reference frame. Thus a generic maneuver algorithm in rough terrain with constraints has been investigated explicitly to limit the orientation scope of steering wheels by means of the data of the pitch, roll, azimuth, the angle of rocker and the relative position of EICR of robot from the feed back of Inertial Measurement Unit (EMU), angle sensors, latitudinal sensors and other sensors. A typical maneuver algorithm of robot on plane has been drawn from the generic maneuver algorithm. Then factors which may affect the errors of maneuver action of mobile robot have been analyzed. Finally the results from simulation and tests are implemented to validate the feasibility of the proposed algorithms.