In the paper, a strategy of attitude switching is proposed, and a mobile robot system is designed with attitude switching according to this strategy.Firstly, the road condition is detected to determine the corresponding attitude and final target angle, then the sub target angle is updated with the formula of constant angular acceleration change rate, and the calculated sub target angle is sent to the vertical loop controller for control, so as to realize the rapid attitude switching of the robot under the complex road condition.The experiment results show that the proposed attitude switching strategy can stably switch the attitude.Under the premise of no overshoot, the average speed of the attitude switching strategy with constant angular acceleration change rate is increased by 63.8% compared with that without constant angular acceleration change rate.At the same time, this paper also proposes a simple obstacle avoidance scheme for the orbiting robot.The experiment not only verifies the feasibility of the obstacle avoidance strategy, but also verifies the potential value of the existence of multi attitude robot.
Key words
mobile robot /
attitude switching /
MK60FX512VLQ15 /
BMX055 /
GP2Y0A02YK0F
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