# Research on the Obstacle-Avoidance Steering Control Strategy of Tracked Inspection Robots
###### Abstract  
Tracked inspection robots possess prominent advantages in dealing with severe environment rescue, safety inspection, and other important tasks, and have been used widely. However, tracked robots are affected by skidding and slipping, so it is difficult to achieve accurate control. For example, the control parameters of a tracked robot are the same during driving, but the pressure, shear force and steering resistance of the robot on the road surface are different, which affects the steering characteristics of the robot on complex terrain. Based on analysis of the structural parameters and steering radius of the robot, the traction force and resistance torque models of the tracked robot were established, and the plane dynamics of the robot's steering were analyzed and solved. The corresponding relationships between the road parameters, relative steering radius, and lateral relative offset of the robot on three typical roads were obtained. Mathematical models of the robot's track speed and relative steering radius with and without skid and slip were established. Through simulation analysis of Matlab software, the corresponding relationship between the relative steering radius of the robot and the velocity difference of the two tracks were obtained. Taking angular obstacles as an example, three obstacle-avoidance steering control strategies, once turning in situ center, twice turning in situ center, and large-radius steering were developed. The tracked robot and obstacle multi-body dynamic simulation models were constructed using ADAMS simulation software. The simulation results show that all three methods can complete the steering tasks according to the requirements; however, under the influence of skid and slip, the trajectory of the robot deviates from the ideal trajectory, which has a great impact on large-radius steering, even though the large-radius obstacle-avoidance steering control strategy has the advantages of a smooth trajectory, fast steering speed, and high efficiency. The obstacle-avoidance steering experiments were completed by the robot prototype, which verifies the rationality of robot steering theory, which could provide the corresponding theoretical basis for autonomous obstacle-avoidance navigation control of a tracked robot. t 2022 2022 17 October 20221 17 October 20221 18 October 20221 17 October 20221  
avoidance strategies on human-robot collaborative systems; its strategies can mitigate the impact of decreasing system performance by increasing the cooperation area [2]. [PERSON] studied avoidance strategy for redundant manipulators in a simulation environment, her algorithm had been implemented in a 2D environment for a 3R planar manipulator [3]. [PERSON] studied the influence of the product characteristics on human-robot collaboration and developed an algorithm that simulates product assembly in the considered workspace [4]. [PERSON] studied the acceleration obstacle as a concept to enable a robot's navigation in human crowds [5]. [PERSON] proposed a novel control architecture that can ensure the safety of robots working in close proximity to humans in dynamically changing environments and demonstrated their approach on a seven degree-of-freedom Kuka LBR iiwa robotic manipulator [6]. [PERSON] developed a generic probabilistic framework for adapting ProMPs and demonstrated their approach in a dual-robot-arm setting [7]. [PERSON] proposed that obstacle avoidance and trajectory planning is the basis of robotic arm motion and that it has an essential impact on the quality of the operation to be completed [8]. In research on the structural design and control method of tracked robots, some scholars have deeply studied the steering control of tracked robots. For example, [PERSON] [9] made an earlier study on this issue. In his pioneering analysis, the coefficient of friction was isotropic, and the frictional force was acting opposite to the relative motion of the track with respect to the ground. [PERSON] [10] expanded the work of his predecessors.