ABSTRACT
The crawler robot has the advantages of small grounding pressure, wide supporting area and better maneuvering characteristics; it is suitable for working in complex environments such as soft ground and muddy roads. But achieving accurate steering control of crawler robots is still a technical problem when the crawler is used as the robot moving chassis. According to the theory of steering dynamics, we analyzed the steering characteristics of the crawler robot and knew that the current output from the motor on both sides of the crawler affects the longitudinal speed, lateral speed and steering angle of the crawler robot. Therefore, we designed the detailed scheme of the crawler robot steering control system and achieved control of the current output from the motor on both sides of the crawler based on the dSPACE hardware-in-the-loop simulation control platform. Considering the gyroscope as the steering control angle detection component, it plays a key role in the accuracy and rapidity of the steering angle control in the robot steering control. So, we designed the gyroscope dynamic performance test system and the specific experiment for the gyroscope rotation dynamics. The experimental results show that the steady-state error of the gyroscope angle is 0.8 degree. The error range can meet the measurement requirements of the steering angle of the crawler robot, and precise control of the robot steering can be realized.
