Design, Control and Experiments of An Agile Omnidirectional Mobile Robot with Active Suspension

Jiang，Shixing1,2; Li，Zhuolun1,2; Lin，Shiyuan1,2; Shi，Wujie1,2; Zhu，Zheng1,2; Che，Haichuan1,2; Yin，Siyuan1,2; Zhang，Chi1,2; Jia，Zhenzhong1,2

10.1109/CASE49997.2022.9926462

2022

2161-8070

2161-8089

978-1-6654-9043-6

IEEE International Conference on Automation Science and Engineering

2022-August

913-918

20-24 Aug. 2022

Mexico City, Mexico

Omnidirectional vehicles (ODVs) have wide applications, but most of them (e.g., mobile robots with omni-, Mecanum, or spherical wheels) are mainly designed for indoor use on flat and smooth terrains. Literature review indicates that mobile robots based on the "self-sustained"active split offset caster (ASOC) module design that uses conventional wheels (e.g., rubber tires) is more suitable to execute agile maneuvers in unstructured rough terrains. However, these robots often have time delay and synchronization issues caused by the wireless transmission of control signals and the wheel-terrain contact-breaking issues (some wheels are lifted off from the ground), which often lead to poor motion control and trajectory tracking performance when executing high speed turns. To solve these problems, through improved ASOC module design, active suspension design, and control algorithm design, we develop an ASOC-based mobile robot capable of active body posture control and agile omnidirectional mobility. We give detailed explanations of its design philosophy and working principle. Experiment results indicate that our proposed robot can achieve much better performance in challenging tests such as negotiating uneven ground and executing very sharp turns at high speed.

Wireless communication Philosophical considerations Trajectory tracking Delay effects Wheels Tires Mobile robots

第一 ; 通讯

英语

EI

20224613111745

Active suspension systems ; Automobile suspensions ; Delay control systems ; Machine design ; Wheels

Mechanical Design:601 ; Machine Components:601.2 ; Automobile and Smaller Vehicle Components:662.4 ; Control Systems:731.1 ; Control System Applications:731.2 ; Robotics:731.5

2-s2.0-85141671169

Scopus

1.Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,China
2.Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,518055,China

Jiang，Shixing,Li，Zhuolun,Lin，Shiyuan,et al. Design, Control and Experiments of An Agile Omnidirectional Mobile Robot with Active Suspension[C],2022:913-918.