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题名: A Novel Model-Based Method for Odometry Calculation of All-Terrain Mobile Robots
作者: Song XK(宋小康) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 7th World Congress on Intelligent Control and Automation
会议日期: June 25-27, 2008
会议地点: Chongqing, China
会议主办者: Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
会议录: 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 581-586
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2113-8
关键词: All-terrain mobile robot ; Kinematics modeling ; Wheel slip ; Odometry calculation
摘要: A novel model-based method for odometry calculation of all-terrain mobile robots is proposed in this paper. Using an all-terrain mobile robot with passively compliant mechanism as an instance, this paper grasps the wheel slip as a key factor affecting the accuracy of odometry calculation by investigating the physical contact relationship between the wheel and the terrain. Firstly, the wheel slip model involving rolling slip, side slip and turning slip is investigated. Then, the whole kinematics model of the robot is built considering the above wheel slips. Finally, the odometry information is achieved based on solving the kinematics model of the robot and the dead-reckon operation. Both theoretical analyses and experimental results testify the correctness and validity of this method. Moreover, the odometry calculation method proposed in this paper can be easily performed based on on-board sensors without taking extra hardware cost.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8505
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
宋小康; 王越超.A Novel Model-Based Method for Odometry Calculation of All-Terrain Mobile Robots.见:IEEE .2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23,NEW YORK,2008,581-586
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