In order to adapt the requirements of automatic operation in narrow space environment

a reconfigurable obstacle avoidance omni-directional mobile robot is proposed

its structure and principle of steering gear deformation are analyzed

and through researching on kinematics model for deformable four-wheel orthogonal omnidirectional mobile mechanism

combined with the Hall encoder and gyroscope

mainly angle closed-loop speed control scheme

based on the STM32 as main controller is proposed

distribution of ultrasonic probe and testing strategy based on this structure are designed. Experimental results show that the proposed control scheme can meet the speed control requirements of the robot

and the robot can stably walk in a straight line after deformation

and can detect the narrow channel environment and pass through the narrow channel through deformation. In practical application

it has fast response speed

flexible mechanism and wide range of application.