A Two-Stage Dynamic Control Scheme for a Skidsteering Field Mobile Robot

This paper developed a four-wheel-drive skid-steering field robot with high positioning accuracy using an electronic compass, encoder, and a double-hierarchy Fuzzy/PID dynamic motor control system. The proposed mobile robot can realize heading angle and velocity control. The system uses a set of AVR micro-control chips as computation core, which matches one low cost microcomputer inductance component. The electronic compass and a single-point laser ranging device can allow the robot to move straight and turn. The proposed system has experimentally tested. The results showed that for straight-line movement, the robot can maintain the lateral error within ±3 cm.