The invention relates to a control method of a cross-shaped symmetrical four-wheel independent drive steering robot and the robot. The control method comprises the following steps that S1, the steering angle of the robot and the turning radius of the robot are obtained; s2, calculating the wheel turning radius and the wheel turning angle of each wheel based on the wheel distance between front and rear wheels of the robot, the wheel distance between left and right wheels of the robot, the steering angle of the robot and the turning radius of the robot; s3, calculating the wheel speed of each wheel based on the wheel turning radius and the wheel turning angle; and S4, sending a corresponding control signal to realize steering based on the speed of each wheel and the turning angle of the turning wheel. Compared with the prior art, the robot has the advantages of being flexible, capable of moving in complex and narrow places, wide in application range, high in reliability and the like.
本发明涉及一种十字对称四轮独立驱动转向机器人控制方法和机器人,包括如下步骤:步骤S1,获取机器人转向角和机器人转弯半径;步骤S2,基于机器人前后轮轮距、机器人左右轮轮距、所述机器人转向角和所述机器人转弯半径,计算各个车轮的车轮转弯半径和车轮转角;步骤S3,基于所述车轮转弯半径和车轮转角,计算各个车轮的车轮速度;步骤S4,基于各个车轮速度和转车轮转角,发送对应的控制信号实现转向。与现有技术相比,本发明灵活多变,能够在复杂狭小的场所进行运动,运用范围广,可靠性高等优点。
Cross symmetric four-wheel independent drive steering robot control method and robot
一种十字对称四轮独立驱动转向机器人控制方法和机器人
2023-10-31
Patent
Electronic Resource
Chinese
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