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

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

张洪^1,2,
丁诗泳^1,2,
陈磊^1,2

1.
江苏省食品先进制造装备技术重点实验室, 江苏无锡 214122;
2.
江南大学机械工程学院, 江苏无锡 214122

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

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- 被引次数: 0
出版历程
- 收稿日期: 2016-08-14
- 刊出日期: 2017-11-05

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

1.
Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment & Technology, Jiangsu Wuxi 214122, China;
2.
School of Mechanical Engineering, Jiangnan University, Jiangsu Wuxi 214122, China

摘要

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。
- 滑动转向 /
- 四轮移动机器人 /
- IMU /
- 运动控制
Abstract: Due to sliding motion errors of a four-wheeled skid-steer mobile robot, it is difficult to control the robot to follow its trajectory. Also the dynamical parameters of the skid-steer on different ground conditions are different, causing different sliding errors and increasing the difficulty in the control and prediction of the robot's turning linear velocity and angular velocity. The linear velocity and angular velocity calculation model of the four-wheeled skid-steer robot is built with two inertial measurement units, and the model is used to take the closed loop control of the four-wheeled skid-steer mobile robot for its motion control, dynamically adjust four wheels separately and make the robot operate more precisely and smoothly. The experimental results show that with the dynamic wheel-velocity adjustment strategy, the robot runs more accurately with less sliding motion error when its trajectory is followed.
- motion control /
- skid-steer /
- inertial measurement unit /
- mobile robot

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参考文献(15)

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