Modeling and Analysis of a Reconfigurable Rover for Improved Traversing over Soft Sloped Terrains

. 2023 Mar 22;8(1):131. doi: 10.3390/biomimetics8010131

Algorithm 1 Attitude control strategy for slope traversing.

1:
Input: threshold $m a x (θ_{b})$ , and the max wheel-soil contact force $m a x (F_{y})$ along the $y^{(B)}$ axis.
2:
Output: servo rotation angle $φ_{S_{i j}}$ and $φ_{R_{i j}}$
3:
Initialization:
4:
acquire the slope angle $α$
5:
if $α ⩽ m a x (θ_{b})$ then
6:
choose operation state “Mode I”
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else
8:
choose operation state “Mode II”
9:
end if
10:
calculate the $φ_{S_{i j}}$ based on Algorithm 2
11:
adjust the servos of the sliding-part $φ_{S_{i j}}$
12:
if $W_{(i, j)} s i n α ⩽ m a x (F_{y})$ then
13:
to optimize wheel-slope contact pose
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else
15:
to optimize wheel-slope contact force
16:
end if
17:
adjust the servos of the rolling-part $φ_{R_{i j}}$
18:
return current $φ_{S_{i j}}$ and $φ_{R_{i j}}$