An all-terrain robot based on variable wheelbase design

Wheeled robot owns rapid mobility on even terrains, while it cannot meet the adaptability of complex terrains. This paper proposes a foldable and reconfigurable all-terrain robot based on variable wheelbase design to address the issue. The robot is composed of one middle plate and two side plates, and they are connected to the same shaft. With the body configuration, the all-terrain robot can handle more challenge environments by changing the wheelbase, which is achieved by unfolding or folding the angle between the middle and side plates. Firstly, the structure of all-terrain robot is designed. Secondly, the kinematics analysis of all-terrain robot is carried out. Thirdly, according to the realization conditions of turning and folding of the vehicle body, such as the speed relation of the wheel, the speed and angle of the driving motor of the vehicle plate, a control scheme of all-terrain robot based on PID is proposed, containing the speed, yaw and wheelbase control. Finally, simulation results validate the feasibility and effectiveness of proposed methods of design and control.