Researchers at Beijing Institute of Technology have developed a configuration design and control method for a distributed driving-steering multi-body articulated mobile robot. The platform, which combines a tractor with multiple full trailers, addresses common issues of poor trafficability and internal stability in articulated vehicles. By analyzing recursive kinematics and dynamics, the team determined an optimal layout: front-axle drive and rear-wheel steering for each trailer. This configuration reduces the 'inner wheel difference' effect that causes trailers to cut corners during turns, and it enhances stability by keeping tires within their lateral adhesion limits.
Key takeaways
- Rear-wheel steering on trailers reduces maximum trajectory deviation from the towing vehicle by approximately 93%.
- Coordinated drive control, blending feedforward and feedback, raises the maximum stable speed at a 0.1 rad steering angle from 8 m/s to 14 m/s.
- The method improves straight-line braking deceleration from -1 m/s² to -4 m/s², indicating stronger stability in emergency maneuvers.
- The modular design allows for scalable trailer sections, making it adaptable for heavy-load transport in logistics and industrial settings.
These results, validated through simulations and physical experiments on a four-body platform, suggest that distributed actuation and steering can significantly enhance the safety and efficiency of articulated mobile robots for factory logistics and other automation applications.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-01-13 · “分布式驱动—转向多级铰接移动机器人构形设计及控制方法”