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《Journal of Southeast University(Natural Science Edition)》 2011-S1
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Obstacle-navigation control method of multi-joint tracked robot based on robot pose

Wang Jian1,2 Tan Yingzi1,2 Xu Yingqiu1,3 (1RoboCup Research Group,Southeast University,Nanjing 210096,China) (2School of Automation,Southeast University,Nanjing 210096,China) (3School of Mechanical Engineering,Southeast University,Nanjing 211189,China)  
To improve the applicability of robot obstacle-navigation control method in typical obstacle environment(such as stair,step,etc.),a method of robot obstacle-navigation control is proposed using the robot pose measured by AHRS(attitude and heading reference systems),as the important feedback.First,the stability pyramid is used as the real-time criterion of tip-over stability,which was verified by experiment.Then,the autonomous obstacle-navigation action planning of robot is designed for typical obstacle based on the robot pose,position and drive current of joints.Test in practical environment shows that the proposed method is less influenced by the dimension of obstacle and has better practicability.
【Fund】: 国家自然科学基金资助项目(61075090)
【CateGory Index】: TP242.3
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