produce important influence in some areas, such as planet exploring, wield research, military purpose and public security, etc. An important and essential problem for mobile robots working in outdoors is how to enhance its adaptability to irregular circumstances. This paper tries to solve several motion-control problems of all-wheel driving mobile robots working in irregular circumstance, because this kind of robotic platform has good performance and may be widely applied in some areas. The novel work and contribution of this thesis can be summarized as follows: In order to achieve more general conclusion, a skid-steering all-wheel driving test bed with simple structure and universal property is developed. Different factors are considered in designing process. The kinematic constraint in the robot’s forward direction under different terrains is analysed by simply modeling and analyzing some various types of terrains. The phenomenon of unsynchronization is disposed, whose cause and essence are analyzed deeply. After analyzed its impacts on climbing over some obstacles, a method to reduce the negatives of the unsynchronized phenomenon is proposed, whose availability and effectness are testified by experiments. The dynamic balance equation of robot’s climbing process is established. Basing on the extreme state which demand maximal driving torque output, a method to determine the minimum driving capability is proposed, which can be applied to guide the design of the robot. The influence of gravity allocation on driving capability demands is analyzed. A method of allocating the gravity of the robot to minimize torque demand is proposed. The rationality of this method is verified by its successful application in developingall-wheel driving test. The influences on climbing process of two factors in dynamic balance equation are quantitatively analyzed: the obstacle height and the friction coefficient between the wheels and the obstacle. Three terms”unsurmountable obstacle”,”absolute unsurmountable obstacle” and” satisfactory friction coefficient” are introduced to measure the robot’s traversability through the obstacle. For the commonality and inheritability being considered at designing stage, most of the conclusion in the paper are based on general structure and can be easily inherited by design of other-style wheeled mobile robots.
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