39002

Abstract—A control synthesis problem for a wheeled robot moving on uneven terrain is studied. The terrain is assumed to be described by a sufficiently smooth function that does not vary too much at distances of the order of the platform size, which makes it possible to employ a planar robot model. The terrain model is not a priori known, and the information on the local terrain configuration is made available for the robot through measuring its pitch and roll angles. The control goal is to bring the robot to a given curvilinear path and to stabilize robot’s motion along it. A change of variables is found by means of which the system of differential equations governing controlled motion of the robot reduces to the form that admits feedback linearization. A numerical example presented demonstrates advantages of the synthesized control compared to that derived without regard to the terrain unevenness. It is shown that the latter is generally not capable of stabilizing robot’s motion with a desired accuracy.