| 野外移动机器人滑动效应的在线建模和跟踪控制 |
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| 引用本文： | 周波,戴先中,韩建达. 野外移动机器人滑动效应的在线建模和跟踪控制[J]. 机器人, 2011, 33(3): 265-272. DOI: 10.3724/SP.J.1218.2011.00265 |
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| 作者姓名： | 周波 戴先中 韩建达 |
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| 作者单位： | 1. 东南大学自动化学院复杂工程系统测量与控制教育部重点实验室,江苏,南京,210096
2. 中国科学院沈阳自动化研究所,辽宁,沈阳,110016 |
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| 基金项目： | 国家863计划资助项目(2006AA040202); 国家自然科学基金资助项目(61005092) |
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| 摘 要： | 针对野外移动机器人的滑动效益建模和补偿控制问题进行了研究.以履带式移动机器人为研究对象,将履带和地面之间的滑动效应建模为时变的滑动参数,由此建立起带滑动参数的机器人运动学和动力学模型,并采用基于方根无色卡尔曼滤波(SR-uKF)的在线非线性估计方法对机器人的位姿和滑动参数进行联合估计.在此基础上,提出了一种基于动态反馈...
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| 关 键 词： | 移动机器人 滑动建模 SR-UKF 跟踪控制 |
Online Modelling and Tracking Control of Mobile Robots with Slippage in Outdoor Environments |
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| ZHOU Bo,DAI Xianzhong,HAN Jianda. Online Modelling and Tracking Control of Mobile Robots with Slippage in Outdoor Environments[J]. Robot, 2011, 33(3): 265-272. DOI: 10.3724/SP.J.1218.2011.00265 |
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| Authors: | ZHOU Bo DAI Xianzhong HAN Jianda |
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| Affiliation: | ZHOU Bo~1,DAI Xianzhong~1,HAN Jianda~2 (1.Key Laboratory of Measurement and Control of CSE,School of Automation,Southeast University,Nanjing 210096,China,2.Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China) |
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| Abstract: | The problems of slippage modeling and compensating control for mobile robots in outdoor environments are studied.Focusing on a tracked mobile robot,the slippage efficiency between tracks of a tracked mobile robot and ground is analyzed and modeled as time-varying parameters,meanwhile the corresponding kinematic and dynamic models of the robot are created with slipping parameters.Then the online nonlinear estimators such as the square-rooted unscented Kalman filter (UKF)can be used to estimate the pose and s... |
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| Keywords: | mobile robot slippage modeling square-rooted unscented Kalman filter(SR-UKF) tracking control |
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