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双惯性测量单元系统下四轮滑动转向机器人运动控制研究

张洪 丁诗泳 陈磊

张洪, 丁诗泳, 陈磊. 双惯性测量单元系统下四轮滑动转向机器人运动控制研究[J]. 机械科学与技术, 2017, 36(11): 1759-1763. doi: 10.13433/j.cnki.1003-8728.2017.1120
引用本文: 张洪, 丁诗泳, 陈磊. 双惯性测量单元系统下四轮滑动转向机器人运动控制研究[J]. 机械科学与技术, 2017, 36(11): 1759-1763. doi: 10.13433/j.cnki.1003-8728.2017.1120
Zhang Hong, Ding Shiyong, Chen Lei. Exploring Motion Control of Four-wheeled Skid-steer Mobile Robot based on Double Inertial Measurement Unit System[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1759-1763. doi: 10.13433/j.cnki.1003-8728.2017.1120
Citation: Zhang Hong, Ding Shiyong, Chen Lei. Exploring Motion Control of Four-wheeled Skid-steer Mobile Robot based on Double Inertial Measurement Unit System[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(11): 1759-1763. doi: 10.13433/j.cnki.1003-8728.2017.1120

双惯性测量单元系统下四轮滑动转向机器人运动控制研究

doi: 10.13433/j.cnki.1003-8728.2017.1120
详细信息
    作者简介:

    张洪(1966-),副教授,博士,研究方向为机电测试与控制技术、机器人技术,1105399774@qq.com

Exploring Motion Control of Four-wheeled Skid-steer Mobile Robot based on Double Inertial Measurement Unit System

  • 摘要: 四轮滑动转向机器人因其运动中存在滑动误差,导致机器人运动轨迹控制困难,而且在不同的地面条件下滑动转向的动力学参数不一样,导致滑动误差的不同,更增加了机器人转向的速度量、角速度量的预测和控制难度。通过使用两个惯性测量单元(IMU)建立四轮滑动转向机器人的速度、角速度计算模型,针对机器人运动中的差动命令对四轮机器人实施闭环控制,动态调整四轮轮速从而使得机器人运行更加精确平稳。实验结果表明使用轮速动态调整策略后机器人轨迹误差更小,轨迹更精确。
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出版历程
  • 收稿日期:  2016-08-14
  • 刊出日期:  2017-11-05

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