Chassis Pose Kinematic Model and Control for Terrestrial Mobile Robots With Active Flippers

ABSTRACT

This study presents a novel and unified framework for modeling hybrid terrestrial mobile robots with flippers, tracks, and wheels, explicitly addressing chassis pose control. Using a differential kinematic approach, the unified model combines a generic chassis and locomotion mechanisms models, and is specifically tailored for an actively actuated tracked vehicle. The introduction of two motion groups and four distinct controllers enables precise manipulation of roll, pitch, and ground clearance. The proposed models' algorithms, implemented in the Robot Operating System, are simple, efficient, and easily embedded in a robot designed for industrial services. Experiments conducted with the prototype in laboratory, open‐field, and industrial environments evaluate the proposed methodology. The results show that the differential models properly coordinate the locomotion mechanisms, allowing the chassis to achieve the desired input velocities.