State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Sensors (Basel). 2022 May 30;22(11):4164. doi: 10.3390/s22114164.
Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies. This paper proposes a novel wheeled-legged mechanism for the design of planetary rovers. The leg suspension utilizes a rigid-flexible coupling mechanism with a hybrid serial-parallel topology. First, the kinematic model is derived. Then, a control strategy for the wheeled-legged rover that includes a trajectory tracking module based on the model predictive control, the steering strategy, and the wheel speed allocation algorithm is proposed. After that, three groups of cosimulations with different trajectories and speeds, and experiments are carried out. Results of both the simulations and experiments validate the proposed control method.
在对行星探索的需求不断增加的情况下，大范围自主探索仍然是现有行星漫游车面临的一大挑战，这就需要新型的具有新颖的移动机构和相应控制策略的行星漫游车。本文提出了一种用于行星漫游车设计的新型轮腿机构。腿悬架采用具有混合串并拓扑结构的刚柔耦合机构。首先，推导了运动学模型。然后，提出了一种轮腿漫游车的控制策略，包括基于模型预测控制的轨迹跟踪模块、转向策略和车轮速度分配算法。之后，进行了三组具有不同轨迹和速度的联合仿真和实验。仿真和实验结果验证了所提出的控制方法。
