Posture design of joint-wheeled mobile robot autonomous negotiating singular terrain

This paper studied the design of initial and obstacle negotiating posture of joint-wheeled mobile robot autonomous negotiating singular terrain. The reflective control strategy is an efficient method in the plan autonomous motion on terrain with singular variation and uncertainty parameters. The key of the reflective control is efficient real-time environment sensing and real-time efficient response to the information from sensors, while the key to the real-time sense and response is sensing emergent terrain and responding efficiently. The rational designing of initial posture of the joint-wheeled mobile robot makes it having the ability to sense the singular variation of the local terrain, i.e. it has the ability to sense the terrain that the four-wheeled does not subsume. The correct obstacles negotiating posture is the posture in which the joint-wheeled mobile robot responds correctly to the local singular terrain.