机械科学与技术2017，Vol.36Issue(11)：1759-1763,5.DOI:10.13433/j.cnki.1003-8728.2017.1120
双惯性测量单元系统下四轮滑动转向机器人运动控制研究
Exploring Motion Control of Four-wheeled Skid-steer Mobile Robot based on Double Inertial Measurement Unit System
张洪 1丁诗泳 2陈磊1
作者信息
- 1. 江苏省食品先进制造装备技术重点实验室,江苏无锡214122
- 2. 江南大学机械工程学院,江苏无锡214122
- 折叠
摘要
Abstract
Due to sliding motion errors of a four-wheeled skid-steer mobile robot,it is difficult to control the robot to follow its trajectory.Also the dynamical parameters of the skid-steer on different ground conditions are different,causing different sliding errors and increasing the difficulty in the control and prediction of the robot's turning linear velocity and angular velocity.The linear velocity and angular velocity calculation model of the four-wheeled skidsteer robot is built with two inertial measurement units,and the model is used to take the closed loop control of the four-wheeled skid-steer mobile robot for its motion control,dynamically adjust four wheels separately and make the robot operate more precisely and smoothly.The experimental results show that with the dynamic wheel-velocity adjustment strategy,the robot runs more accurately with less sliding motion error when its trajectory is followed.关键词
滑动转向/四轮移动机器人/IMU/运动控制Key words
motion control/skid-steer/inertial measurement unit/mobile robot分类
信息技术与安全科学引用本文复制引用
张洪,丁诗泳,陈磊..双惯性测量单元系统下四轮滑动转向机器人运动控制研究[J].机械科学与技术,2017,36(11):1759-1763,5.
