Skip to Main Content
This paper develops an industrialized PLC-based controller to navigate escaping motions of wheeled robots with variable centre of gravity. The caterpillar vehicle is conspicuously restrained by the heavy weight and the discharge capacity of the battery pack, power management and charge/discharge reliability. In general, battery capacity and the state-of-discharge (SOD) are pessimistically estimated based on the upper bounds of each robot modules. This paper is aimed to develop a power scheduling algorithm to evaluate the loading effects of the LiFePO4 battery system on the caterpillar robot. A PC-based platform with the human-machine interface (HMI) is applied to detect each of the modulized servo-motors and sensors. Finally, off-line simulations and experiment of the on-line data acquisition are also carefully examined and successfully demonstrated the advantages of the proposed robot system.