张韬懿, 王田苗, 吴耀, 赵其腾. 全地形无人车的设计与实现[J]. 机器人, 2013, 35(6): 657-664. DOI: 10.3724/SP.J.1218.2013.00657
引用本文: 张韬懿, 王田苗, 吴耀, 赵其腾. 全地形无人车的设计与实现[J]. 机器人, 2013, 35(6): 657-664. DOI: 10.3724/SP.J.1218.2013.00657
ZHANG Taoyi, WANG Tianmiao, WU Yao, ZHAO Qiteng. Design and Realization of an All-terrain Unmanned Ground Vehicle[J]. ROBOT, 2013, 35(6): 657-664. DOI: 10.3724/SP.J.1218.2013.00657
Citation: ZHANG Taoyi, WANG Tianmiao, WU Yao, ZHAO Qiteng. Design and Realization of an All-terrain Unmanned Ground Vehicle[J]. ROBOT, 2013, 35(6): 657-664. DOI: 10.3724/SP.J.1218.2013.00657

全地形无人车的设计与实现

Design and Realization of an All-terrain Unmanned Ground Vehicle

  • 摘要: 研究了一种基于六轮独立驱动及滑移转向的全地形无人地面车辆(UGV)平台,分析了6×6驱动和滑移转向模式的通过能力与机动性优势.设计并实现了一种基于纯电动模式的全地形底盘,通过遥操作方式进行控制.对平台的基本运动性能以及特殊结构下的通过能力进行实验验证.实验结果证明,该结构具有比4轮全地形无人车平台更好的通 过能力及地形适应性.

     

    Abstract: An all-terrain UGV (unmanned ground vehicle) based on six-wheel-independent-drive & skid steering is studied, and the advantages of 6×6 independent drive and skid steering in terms of obstacle surmounting ability and mobility are analyzed. An all terrain electric drive chassis based on remote control is designed and realized. The primary mobility performance and obstacle surmounting ability under specific structure are tested. Experimental results demonstrate that the UGV has better trafficability & geography adaptability than the 4× 4 ATV (all terrain vehicle).

     

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