A movement planning and control method of special robot over obstacle based on centroid monitoring

Aiming at the problems of scattered operating functions, low non-line-of-sight remote control efficiency and poor stability in the practical application of tracked special robots, this paper proposes a convenient movement planning and control method of special robot over obstacle based on centroid monitoring. Firstly, the typical structure of the tracked special robot is analyzed. Then, the centroid kinematics model of the robot with movable structure is established based on the centroid coordinate formula. The non-line-of-sight obstacle height estimation method is proposed. The obstacle-climbing movement planning and control method is carried out based on the centroid monitoring. Finally, a kinematic model comparative experiment and obstacle-climbing simulation experiment are designed to verify the feasibility of the proposed method. This method can integrate the robot's obstacle-climbing actions, adjust the position of the movable joints automatically, and independently adjust the robot's centroid distribution. Based on proposed method, the robot achieves a stable and convenient semi-autonomous obstacle-climbing function at a given speed and direction. The proposed method reduces the operator's difficulty in non-line-of-sight condition and greatly improves the efficiency and reliability of obstacle crossing task.