Analysis and Control of Dynamic Stability for Articulated Mobile Robot Obstacle Negotiation

Analyzed kinematics and dynamics of the obstacle negotiations for an articulated mobile robot a restriction condition to guarantee dynamic stability when it gets over the obstacles. Based on sensors' information, a method of fuzzy logical control is used to regulate the robot's posture to adapt rough terrain and realize local autonomous obstacle negotiation. Experiments show that the restriction improves the negotiation stability and velocity, decrease actions of each joint, and increase performances of the obstacle negotiation.