Attitude Control of an All-Wheel-Drive Rover with Integrated Active Suspension System

Yin，Siyuan; Wang，Wenhui; Hu，Longteng; Zhu，Zheng; Jia，Zhenzhong

10.1109/ICMRE56789.2023.10106596

2023

9th International Conference on Mechatronics and Robotics Engineering (ICMRE)

978-1-6654-6327-0

2023 9th International Conference on Mechatronics and Robotics Engineering, ICMRE 2023

58-64

FEB 10-12, 2023

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

The attitude control is critical for omni-directional vehicles (ODVs) or mobile robots, especially when negotiating with uneven rocky terrains. To improve the pose control capability and traversability performance, some ODVs and rovers are equipped with active suspension system, through which one can improve the robot's stability and maneuverability, thereby optimizing the robot's body posture in real time. In this paper, we design an all-wheel-drive, all-wheel-steering ODV named Big Mars Rover (BMR) with integrated active suspension system consisting of independent active suspensions and passive rocker-type differential mechanism. We propose body attitude optimization methods based on hill-climbing and simulated annealing algorithms. We also build a simplified simulation model for BMR and conduct various experiments to verify the feasibility of different attitude optimization methods. The results suggest our BMR has very good body posture adjustment capability over uneven terrains while our attitude control strategies are reliable, demonstrating the effectiveness for future hardware experiments.

Active Suspension Attitude Control Mobile Robot Omni-Directional Vehicle

第一 ; 通讯

英语

CPCI-S ; EI

Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS0200811143601004]

Computer Science ; Engineering ; Robotics

Computer Science, Artificial Intelligence ; Engineering, Mechanical ; Robotics

WOS:001008746000011

20232014093713

Active suspension systems ; Automobile bodies ; Automobile suspensions ; Maneuverability ; Mobile robots ; Rovers ; Simulated annealing ; Wheels

Heat Treatment Processes:537.1 ; Machine Components:601.2 ; Spacecraft, General:655.1 ; Automobile and Smaller Vehicle Components:662.4 ; Control System Applications:731.2 ; Specific Variables Control:731.3 ; Robotics:731.5

2-s2.0-85159102351

Scopus

Southern University of Science and Technology (SUSTech),Department of Mechanical and Energy Engineering,Shenzhen,China

Yin，Siyuan,Wang，Wenhui,Hu，Longteng,et al. Attitude Control of an All-Wheel-Drive Rover with Integrated Active Suspension System[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:58-64.