Skid Steering Control and Wheel-Centred Trajectory Planning for Wheel-Legged Robots.

Wheel-legged robots use skid steering due to space constraints. During the steering process, the tire longitudinal and lateral force are large, and the wheel motor performance requirements are high. Combining the characteristics of wheel-legged robots, which has many degrees of freedom, a wheel-centred trajectory planning method is proposed. The control framework based on the skid steering by the way of reducing the wheelbase is designed in order to improve the steering performance. Wheel-centred trajectory is converted to hip and knee joint angles by the joint angle solver. Designing a longitudinal velocity controller based on PID control and a yaw rate controller based on synovial control. The efficiency and steering stability of the robot can be improved and the requirement for drive motors can also be reduced with the help of the method.