Designing for uniform mobility using holonomicity
Designing for uniform mobility using holonomicity
复制标题
使用完整性设计统一的移动性
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Mark H. Yim
中科院分区：
文献类型：
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作者：
John Tighe Costa;Mark H. Yim
完整系统通常是复杂和昂贵的，具有较差的地形处理能力。本文介绍了HAMR，一个平台，这是简单，低成本，具有良好的地形处理能力，这是设计使用一种新的方法来表征移动性。一个流动性椭球（类似于一个操纵性椭球）被引入作为一个设计工具。一种称为完整性的度量标准测量了车辆在各个方向上平等移动的程度。实验测量了HAMR的完整性。结果表明，非完整飞行器也可以具有较高的完整性。
Holonomic systems are often complex and expensive with poor terrain handling capabilities. This paper introduces HAMR, a platform that is simple and low-cost with good terrain handling capabilities which was designed using a new method for characterizing mobility. A mobility ellipsoid (analogous to a manipulability ellipsoid) is introduced as a design tool. A metric called holonomicity measures the extent to which a vehicle can move equally in all directions. The holonomicity of HAMR is measured experimentally. It is shown that non-holonomic vehicles can have relatively high holonomicity as well.