Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels
Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels
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DOI：
10.1017/s026357471100035x
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发表时间：
2011-05
期刊：
影响因子：
2.7
通讯作者：
T. Okada;A. Mahmoud;W. Botelho;Toshimi Shimizu
中科院分区：
文献类型：
--
作者：
T. Okada;A. Mahmoud;W. Botelho;Toshimi Shimizu
本文分析了一种具有独立转轮的移动机器人在不平整的地面上行走，包括上升面和下降面。我们给出了机器人运动能量消耗的数学表达式。在我们的分析中，我们利用虚拟功原理，并假设机器人以固定的轮轴排列移动，并且不使用转向手柄。数学模型表明，摩擦系数和载荷分布决定了车轮的滑移和打滑行为。我们最小化虚功表达式来确定机器人的运动服从从动轮。该模型还使我们能够估计不同地面条件下的轨迹。混合机器人PEOPLER-II通过遵循角速度控制规则来演示预测的运动，包括旋转和旋转。实验数据验证了所提出的虚功公式和虚功最小化是预测机器人轨迹的有效方法。所描述的方法广泛适用于具有独立驱动轮的轮式机器人。
SUMMARY This paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.