机器人2026，Vol.48Issue(1)：89-101,13.DOI:10.13973/j.cnki.robot.240199
分布式驱动—转向多级铰接移动机器人构形设计及控制方法
Configuration Design and Control Methods of Distributed Driving-Steering Multi-body Articulated Mobile Robot
摘要
Abstract
The articulated mobile robot platform has the advantages of large carrying capacity and flexible module com-binations,but it faces prominent issues such as poor trafficability and internal stability,which limit the transport scenarios and efficiency.A multi-body articulated mobile robot platform equipped with distributed driving and steering devices and its control methods are designed.Firstly,a distributed steering and driving deployment scheme for full-trailer with front axle driving and rear axle steering is proposed based on the recursive kinematic and dynamic characteristics of the multi-body articulated platform.Secondly,a modular feedback control algorithm based on kinematic deduction and coordinate trans-formation for trailer rear-wheel steering is designed to address the poor trafficability resulting from the large turning swept area of the multi-body articulated platform,which achieves the same path following of articulated platform.For the poor internal stability in the multi-body articulated platform,a distributed drive control method based on the fusion of feedforward and feedback is designed,which achieves the coordinated stable operation of the articulated platform in high-speed steering,braking,and other potentially unstable conditions.Finally,simulations and physical experiments on a four-body articulated mobile robot platform are carried out.The experiments show that the distributed rear-wheel steering reduces the maximum trajectory deviation of the trailer from the towing vehicle by approximately 93％.Coordinated drive control increases the maximum stable driving speed of the platform from 8 m/s to 14 m/s at a steering angle of 0.1 rad,and improves the linear braking deceleration from-1 m/s2 to-4 m/s2.关键词
铰接移动机器人/分布式驱动与转向/协同控制Key words
articulated mobile robot/distributed driving and steering/coordinated control引用本文复制引用
胡喆熙,彭会帅,李浩语,杨毅,谢杉杉..分布式驱动—转向多级铰接移动机器人构形设计及控制方法[J].机器人,2026,48(1):89-101,13.基金项目
国家重点研发计划(2022YFC2603602) （2022YFC2603602）
国家自然科学基金(62233002). （62233002）
