Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy

A multiaxle wheeled robot is difficult to be controlled due to its long body and a large number of axles, especially for obstacle avoidance and steering in narrow space. To solve this problem, a multisteering mode control strategy based on front and rear virtual wheels is proposed, and the driving t...

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Autores principales:	Yongqiang Zhu, Junru Zhu, Pingxia Zhang
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Engineering (General). Civil engineering (General) TA1-2040 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/ac43c8d76f7b4ea2955045ab33229c36
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spelling	oai:doaj.org-article:ac43c8d76f7b4ea2955045ab33229c362021-11-08T02:37:06ZObstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy1687-525710.1155/2021/3702476https://doaj.org/article/ac43c8d76f7b4ea2955045ab33229c362021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/3702476https://doaj.org/toc/1687-5257A multiaxle wheeled robot is difficult to be controlled due to its long body and a large number of axles, especially for obstacle avoidance and steering in narrow space. To solve this problem, a multisteering mode control strategy based on front and rear virtual wheels is proposed, and the driving trajectory prediction of the multiaxle wheeled robot is analyzed. On this basis, an obstacle avoidance control strategy based on trajectory prediction is proposed. By calculating the relationship between the lidar points of the obstacle and the trajectory coverage area, the iterative calculation of the obstacle avoidance scheme for the proposed steering is carried out, and the feasible obstacle avoidance scheme is obtained. The mechanical structure, hardware, and software control system of a five-axle wheeled robot are designed. Finally, to verify the effectiveness of the obstacle avoidance strategy, a Z-shaped obstacle avoidance experiment was carried out. The results confirm the effectiveness of the proposed control strategy.Yongqiang ZhuJunru ZhuPingxia ZhangHindawi LimitedarticleEngineering (General). Civil engineering (General)TA1-2040Electronic computers. Computer scienceQA75.5-76.95ENJournal of Control Science and Engineering, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Engineering (General). Civil engineering (General) TA1-2040 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Engineering (General). Civil engineering (General) TA1-2040 Electronic computers. Computer science QA75.5-76.95 Yongqiang Zhu Junru Zhu Pingxia Zhang Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy
description	A multiaxle wheeled robot is difficult to be controlled due to its long body and a large number of axles, especially for obstacle avoidance and steering in narrow space. To solve this problem, a multisteering mode control strategy based on front and rear virtual wheels is proposed, and the driving trajectory prediction of the multiaxle wheeled robot is analyzed. On this basis, an obstacle avoidance control strategy based on trajectory prediction is proposed. By calculating the relationship between the lidar points of the obstacle and the trajectory coverage area, the iterative calculation of the obstacle avoidance scheme for the proposed steering is carried out, and the feasible obstacle avoidance scheme is obtained. The mechanical structure, hardware, and software control system of a five-axle wheeled robot are designed. Finally, to verify the effectiveness of the obstacle avoidance strategy, a Z-shaped obstacle avoidance experiment was carried out. The results confirm the effectiveness of the proposed control strategy.
format	article
author	Yongqiang Zhu Junru Zhu Pingxia Zhang
author_facet	Yongqiang Zhu Junru Zhu Pingxia Zhang
author_sort	Yongqiang Zhu
title	Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy
title_short	Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy
title_full	Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy
title_fullStr	Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy
title_full_unstemmed	Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy
title_sort	obstacle avoidance control for multisteering mode of multiaxle wheeled robot based on trajectory prediction strategy
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/ac43c8d76f7b4ea2955045ab33229c36
work_keys_str_mv	AT yongqiangzhu obstacleavoidancecontrolformultisteeringmodeofmultiaxlewheeledrobotbasedontrajectorypredictionstrategy AT junruzhu obstacleavoidancecontrolformultisteeringmodeofmultiaxlewheeledrobotbasedontrajectorypredictionstrategy AT pingxiazhang obstacleavoidancecontrolformultisteeringmodeofmultiaxlewheeledrobotbasedontrajectorypredictionstrategy
_version_	1718443029361065984

Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy

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