Design, Modeling and Simulation for Obstacle Crossing Robot Based on In-Wheel Motor
Guan Jun Meng, Zu Tao Zhang, Hong Xu · Applied Mechanics and Materials · 2014
This paper presents a novel Omni-directional obstacle crossing robot with a combination of passive and active obstacle crossing mode which uses binocular cameras to detect obstacles. The Omni-directional movements can enhance the ability of the robot working in small space and improve the efficiency of steering. The combination of passive and active mode can not only guarantee the adaptability to complex terrain but also enhance the obstacle-crossing ability of the robot. This system was tested in simulation environment, and the last performance evaluation demonstrates the validity of the proposed obstacle crossing robot.