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The tractive capability of Multi-wheeled mobile robots (WMRs) depends heavily on the performance of the driving control of their steerable wheels. The recently proposed concept of a pseudo-driven wheel (PDW) provides a simple, versatile, and effective way to improve the tractive capability. However, its focus is to eliminate the internal forces between the wheels and save energy; therefore, it cannot provide sufficient driving force to the body on rough terrains. This paper proposes a control strategy to adjust the power output of a PDW along the directions of two degrees of freedom, an approach that improves the trajectory tracking control of WMRs, especially on rough terrains. To achieve the desired active following control of the PDW, an active disturbance rejection controller is used to compensate the disturbances arising from the wheel-terrain interaction. The Adams and Simulink are used for a joint simulation of which results show that the proposed control strategy is necessary for accurate trajectory tracking, for which the feasibility and effectiveness were verified by the experimental results. In summary, the trajectory tracking accuracy of the WMR and its tractive capabilities on rough, sandy terrain were improved.

Control Strategy for the Pseudo-Driven Wheels of Multi-Wheeled Mobile Robots Based on Dissociation by Degrees-of-Freedom