Construction of path trackingcontrol method and establishment of autonomous navigation for tracked vehicleson rough terrain

崎岖地形履带车辆路径跟踪控制方法构建及自主导航建立

• 批准号: 22560252
• 负责人: KURISU Masamitsu
• 金额: $ 2.83万
• 依托单位: Tokyo Denki University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2010
• 资助国家: 日本
• 起止时间: 2010 至 2012
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22560252/
• 关键词: 知能ロボティクス; 装軌車両; 自己位置推定; 走行制御; 滑り; 知能機械; 機械力学・制御

A path tracking control method for tracked vehicles, which compensates slippage of crawlers, was constructed. A position estimation method in consideration of the slippage and drag force from a ground was also constructed. As for the tracking control, simulations and experiments show that the control method makes the vehicle possible to follow a desired path, although the tracking performance degrades on a place where characteristics of the ground change. As for the position estimation method, we found that accuracy of estimation decreased on the place where characteristics of the ground changed. Further improvement to add an automatic calibration of sensors is required.

提出了一种补偿履带打滑的履带车辆路径跟踪控制方法。考虑到地面的滑移和拖曳力的位置估计方法也被构造。至于跟踪控制，仿真和实验表明，该控制方法使车辆可以遵循期望的路径，虽然跟踪性能下降的地方，地面的特性变化。对于位置估计方法，我们发现，估计精度下降的地方，地面特性的变化。需要进一步改进以添加传感器的自动校准。