Control System for an All-Terrain Mobile Robot

An idea of a control system architecture for a new wheeled mobile robot is proposed. The robot construction is characterized by an original drive mechanism and constitutes an extension of the previous research performed in Hochschule Ravensburg-Weingarten. In the new construction, the robot is given the ability to rise or lower its chassis. No complicated additional hardware is required as the level of the chassis can be changed by means of torque differences on the wheels. A modular approach is adopted to develop a hierarchical two-level and layered control system. Low and high levels correspond to local and global vehicle control. The low level is described in more detail, defining the layers and providing appropriate justification.