Towards Dynamics and Control of an Arm-Wheel based Autonomous Stair Climbing Robotic Vehicle

摘要

The paper describes the dynamics and control aspects of an arm wheel based mobile robot for stair navigation with such features as skid steered motion on flat surface, navigation on staircase i.e. ascending and descending stairs keeping payload carrier platform parallel to the ground. A feedback linearization control scheme is adopted to decipher the skid steer phenomena. The nearness of the experimental data to corresponding simulated data validates design and analysis of the present system.