Kinematics Analysis and Path Planning of Wall-Climbing Robot Based on Rear-Wheel Steering

This paper establishes a kinematics model for a wall-climbing robot with rear-wheel steering, conducts kinematics analysis, and derives the corresponding formula. Through analysis, it is concluded that the robot's motion trajectory is a combination of a circular arc and a straight line. For the adjustment of different distances and poses, a variety of path planning methods such as arc circumscribed, arc combined with straight lines, and arc inscribed are designed, and the parameter values that need to be determined in each planning method are deduced. In this paper, Matlab software is used for simulation, the expected pose transformation is realized, and the feasibility of the theory is verified. Finally, several path planning methods are compared to determine their respective applicable conditions.