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题名: Kinematical Model-based Yaw Calculation for an All-Terrain Mobile Robot
作者: Song XK(宋小康) ; Wang YC(王越超) ; Wu ZW(吴镇炜)
作者部门: 机器人学研究室
会议名称: IEEE/ASME International Conference on Advanced Intelligent Mechatronics
会议日期: July 2-5, 2008
会议地点: XIan, China
会议主办者: IEEE
会议录: 2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 274-279
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2494-8
关键词: All-terrain mobile robots ; Kinematics modeling ; Wheel slip ; Wheel-terrain contact ; Yaw calculation
摘要: Wheeled mobile robots have been widely investigated and put into many applications such as planet surface exploration fields and other rough terrain situations. Yaw calculation is of importance for mobile robots to autonomously navigate and control. Sensor-based methods for calculating robot's yaw found their limits in the situations where sensor data are not sufficiently applicable or badly noised, especially for planet exploration robots. This paper proposed a novel model-based method for yaw calculation of an all-terrain mobile robot with passively compliant mechanisms. The robot's kinematical model is built considering wheel slips and the physical wheel-terrain contact relationship. Treating the all-terrain mobile robot as a series-parallel multi-body system, we can directly build the robot's kinematical model based on closed velocity chain theory. The yaw calculation can be easily finished by detecting wheel encoder data and solving the kinematical model of the robot. Several experiments were performed to test the validity and usefulness of this method. This kinematics-based yaw calculation method also proved its robustness and real-time performance.
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/173321/8749
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; 吴镇炜.Kinematical Model-based Yaw Calculation for an All-Terrain Mobile Robot.见:IEEE .2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3,NEW YORK,2008,274-279
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