Lateral control design of intelligent chassis for fire robot

Abstract

This study aims to solve the problem of lateral motion control so that the fire robot accurately tracks the desired speed and desired path, so as to realize autonomous driving of the fire robot, reduce the casualties of firefighters in firefighting, and further improve the intelligence of firefighting. According to the use scenario of the fire robot, and comprehensive consideration of lightweight and energy saving, the mechanical structure of its chassis is designed, and the sliding mode variable structure and the radial basis function (RBF) neural network are combined to design the lateral motion controller on this basis. The control expression of the controller is derived. In order to verify the robustness of the controller, this study uses the ADAMS/Simulink co-simulation system, using different driving speeds to simulate and verify the controller under a typical route. The lateral controller studied in this paper plays an important role in the path tracking of fire robot.