Kinematics Analysis And Control System Design Of Swing ARM Unmanned Ground Obstacle Crossing Vehicle

Unmanned Ground Vehicle(UGV)which has functions such as environmental perception,planning-decision making,and automatic driving is an important part of unmanned ground mobile platform(UGMP).It can perform various tasks including transportation of goods,intelligence detection and ground operations so that it plays an important role in military field.Obstacle crossing vehicle belongs to the category of unmanned ground vehicle,it also has great significance to carry out relevant research on obstacle crossing vehicle.So this paper designs a swing arm unmanned ground obstacle crossing vehicle,and focuses on the following research aspects:1.Complete mechanical structure and power system design.According to the functional requirements of obstacle crossing unmanned ground vehicle,swing arm adjustable suspension is selected as the chassis structure.On this basis,brushless DC motor is selected as the power component,motor power matching and motor selection are completed by establishing vehicle ramp driving model and obstacle-crossing model.2.Establish kinematics models.This vehicle can work under both structural and nonstructural pavement,so plane kinematics and space kinematics models are established.In plane kinematics,the linear driving and differential steering are analyzed;In space kinematics,the centroid position of unmanned ground vehicle is obtained by coordinate transformation theory.3.Research on control system.Two operation modes are designed: infrared remote control operation mode and autonomous operation mode.In infrared remote control mode,STM32 controller is used to decode remote signal and control the motor;In autonomous operation mode,the position information of obstacle is detected by ultrasonic sensors.On this basis,Kalman filtering algorithm and autonomous obstacle avoidance algorithm based on fuzzy control are proposed.4.Motion simulation and experiment of obstacle crossing vehicle are completed.Adams dynamic simulation software is used to verify the feasibility of vehicle running in straight line,crossing ditch and crossing vertical obstacle.Finally,real road environment is built to test the vehicle.