The Six-Wheeled Differential Mobile Robot (SWDMR) studied in this paper is designed to meet the point-to-point material transportation needs from resource stations to resource sites, thus requiring high obstacle-crossing capabilities. Compared to traditional four-wheeled mobile robots, six-wheeled mobile robots can provide stronger driving force. Furthermore, with six wheels compared to four, the overall vehicle load is distributed among more wheels, reducing the driving torque required by each wheel's motor, which facilitates motor selection. Compared to eight-wheeled mobile robots, although they have more wheels than six-wheeled ones and can provide greater overall driving torque, they increase control complexity and raise the cost of building the mobile system. The mobile robot's structure abandons the traditional centralized drive in favor of a distributed drive. A distributed structure eliminates systems like transmission, differential, and gearbox found in traditional vehicles, which can reduce the vehicle's weight. Moreover, each wheel acts as an independent actuator and can be controlled independently, enhancing the overall vehicle control flexibility.

As the focus of this paper, a preliminary hierarchical structure for the SWDMR is first outlined. For a robot to operate in complex environments, it needs to perceive environmental information and its own state information to ensure it can better adapt to the environment. Therefore, an essential component is the perception layer, comprising a series of sensors such as radar, cameras, IMU, etc. The robot acquires environmental information and