| 差速轮式移动机器人的定位导航算法 |
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| 引用本文： | 刘丽,熊家新,徐鹤,苏东楠,王丹丹,陈纯. 差速轮式移动机器人的定位导航算法[J]. 长春光学精密机械学院学报, 2014, 0(4): 73-78 |
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| 作者姓名： | 刘丽 熊家新 徐鹤 苏东楠 王丹丹 陈纯 |
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| 作者单位： | 长春理工大学机电工程学院,长春130022 |
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| 摘 要： | 针对差速轮式移动机器人定位及导航算法中从圆弧路径切换到直线路径时车体晃动问题进行研究,提出了一种新的路径规划方法。首先介绍差速轮式移动机器人的定位算法和导航算法（直线导航、圆弧导航）,然后分析从圆弧路径切换到直线路径时存在的问题及产生的原因并提出了一种新的路径规划方法,最后建立Simulink模型进行仿真。仿真结果表明新的路径规划方法取得了良好的效果。
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| 关 键 词： | 移动机器人 定位导航算法 Simulink |
Positioning and Navigation Algorithms of Differential Wheeled Mobile Robots |
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| LIU Li,XIONG Jiaxin,XU He,SU Dongnan,WANG Dandan,CHEN Chun. Positioning and Navigation Algorithms of Differential Wheeled Mobile Robots[J]. Journal of Changchun Institute of Optics and Fine Mechanics, 2014, 0(4): 73-78 |
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| Authors: | LIU Li XIONG Jiaxin XU He SU Dongnan WANG Dandan CHEN Chun |
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| Affiliation: | (School of Mechatronical Engineering, Changchun University of Science and Technology, Changchun 130022) |
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| Abstract: | Aiming at the problems of the body shaking problem in positioning and navigation algorithms of differential wheeled mobile robots in the switch from the circular path to the straight line path,a new method of path planning was proposed and researched. Firstly,differential wheeled mobile robot＇s positioning and navigation algorithms（linear and circular navigation）are introduced;then the present problems and reasons are analyzed that is existed in positioning and navigation algorithms of differential wheeled mobile robots from the circular path to the straight line path and a new method of path planning is putted forward.Finally,model simulation is set up. The simulation results show that the good effect has been obtained by the new path planning method. |
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| Keywords: | mobile robot positioning and navigation algorithms Simulink |
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