Novel Strengthened Structure of Stair-Climbing Robots on Campus

Abstract

The riding comfort and the maneuverability play increasingly important roles in the development of the moving platform of manned robots. The escaping dynamics and the sensor-based automation have been topics in the issues of the automobile industry since 1995’s. It occurs when the vehicle slips away from its prescribed trajectory during braking or cornering. This paper is to construct an intelligent controller to avoid escaping phenomenon for the wheeled and the caterpillar robot platforms. The proposed algorithm is focused on modeling, analysis, and control of nonholonomically vehicle dynamics on the geometric point of view. The stratagem of the anti-lock braking system (ABS) is to navigate the cornering dynamics using the intelligent controller, which successfully integrate a fuzzy-logic controller and multi-stage electronic sensors. Finally, dynamic simulations and experiments of a sensor-based prototype are made to justify the performance of the proposed algorithm.