Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method of the Vehicles
Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method of the Vehicles
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完整全向飞行器研制及其精确制导方法
DOI：
10.7210/jrsj.13.249
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Haruhiko Asada
中科院分区：
文献类型：
--
作者：
Akihira Nishikawa;M. West;Haruhiko Asada
提出了一种新的整体力学全方位飞行器的设计方案和激光制导技术。完整机构允许飞行器从平面上的任意构型向任意方向机动。这大大简化了控制问题，并提高了定位精度。描述了一种利用球面轮胎机构获得地板上完整约束的全方位运动的基本方法。每辆车都可以被视为一个具有无限工作空间的XYθ定位工作台。为实现精确制导和定位，发展了激光制导技术。设计、搭建并测试了一个原型系统。通过实验，验证了飞行器的全方位运动和制导方法的有效性。
A new design of holonomic omnidirectional vehicle and a laser guidance technique for the vehicles are presented. The holonomic mechanism allows the vehicle to maneuver in an arbitrary direction from an arbitrary configuration on a plane. This significantly simplifies control problems and improves positioning accuracy. A fundamental method of obtaining omnidirectional motion with holonomic constraints on the floor, using a mechanism with spherical tires, is described. Each vehicle can be viewed as an XYθ positioning table with an infinite workspace. For accurate guidance and positioning, a laser guidance technique is developed. A prototype system is designed, built and tested. Upon experiments, omnidirectional motion of the vehicle and the effectiveness of the guidance method were confirmed.