The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs.
The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic
model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the
leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the
efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt
fluctuations are decreased by 5 times.