Accuracy Improvement for a Redundant Vehicle
Accuracy Improvement for a Redundant Vehicle
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冗余车辆的精度提高
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
A. Fournier
中科院分区：
文献类型：
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作者：
J. Aragones;G. Borges;A. Fournier
本文提出了减少轮子打滑和运动学模型不确定性对过驱动轮式移动机器人低级控制和里程测量影响的解决方案。里程计旨在对机器人直接运动学模型进行数值积分，其误差部分归因于模型的不确定性。参数识别可以显着提高里程计的准确性。车轮打滑会带来较大的定位误差。因此，机器人控制必须尽可能平滑，这是通过构建C2连续运动的方法来实现的。最后一个贡献是针对带有偏置转向轮的全向机器人。冗余特性用于减少车轮打滑。
This paper presents solutions to reduce the effects of wheel slippage and kinematic model uncertainty on low-level control and odometry of over-actuated wheeled mobile robots. Odometry aims at numerical integration of the robot direct kinematic model, whose errors are in part dues to model uncertainties. A parameter identification can significantly improve the odometry accuracy. Wheel slippage introduces large positioning errors. Therefore, robot control must be as smooth as possible, which is achieved by an approach to build a C2 continuous motion. The last contribution is specific to omnidirectional robots with offset steered wheels. The redundancy property is used to reduce wheel slippage.