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Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor
Xu, He; Xu, Yan; Wang, Peiyuan; Yu HP(于洪鹏); Ani, Ozoemena Anthony; Gao, X. Z.
作者部门管理支撑部门
关键词Sensors Robotics Mobile Robots
发表期刊INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
ISSN0143-991X
2017
卷号44期号:6页码:798-807
收录类别SCI ; EI
EI收录号20174404344429
WOS记录号WOS:000413936600012
产权排序2
摘要Purpose - The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy. Design/methodology/approach - First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including "rigid wheel - rigid terrain" model and "rigid wheel - deformable terrain" model. Findings - In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results. Originality/value - This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Industrial ; Robotics
关键词[WOS]TRACTION CONTROL ; ROBOTIC VEHICLES ; MOBILE ROBOT ; ROVER
WOS研究方向Engineering ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21220
专题管理支撑部门
通讯作者Xu, Yan
作者单位1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Department of Agricultural and Bioresources Engineering, University of Nigeria, Nsukka, Nigeria
4.Machine Vision and Pattern Recognition Laboratory, Lappeenranta University of Technology, Lappeenranta, Finland
推荐引用方式
GB/T 7714
Xu, He,Xu, Yan,Wang, Peiyuan,et al. Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2017,44(6):798-807.
APA Xu, He,Xu, Yan,Wang, Peiyuan,Yu HP,Ani, Ozoemena Anthony,&Gao, X. Z..(2017).Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,44(6),798-807.
MLA Xu, He,et al."Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 44.6(2017):798-807.
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