Design of a Level Attitude Auto-Adjustment Controller for Joint-Tracked Mobile Robot

Considering the mechanism characteristics of the joint-tracked mobile robot, a controller based on real-time feedback is put forward to accomplish level attitude auto-adjustment. After analysis on kinematics and dynamics, the controller model is supposed which takes several kinds of sensors as detecting elements, kinematics and dynamics models as reference to build decision strategy. And an open control system based on DSP and industrial computer is adopted for the controller. It is proved to satisfy the demands of level attitude adjustment through climbing and obstacle negotiation experiments.