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基于激光扫描仪传感器的滑移转向轮式机器人的分析与实验运动学

Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

作者信息

Wang Tianmiao, Wu Yao, Liang Jianhong, Han Chenhao, Chen Jiao, Zhao Qiteng

机构信息

Robotics Institute, Beihang University, Beijing 100191, China.

出版信息

Sensors (Basel). 2015 Apr 24;15(5):9681-702. doi: 10.3390/s150509681.

DOI:10.3390/s150509681
PMID:25919370
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4481911/
Abstract

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

摘要

滑移转向移动机器人因其机构简单和坚固耐用而被广泛应用。然而，由于复杂的轮地相互作用和运动学约束，理解这种机器人平台的运动学和动力学是一项挑战。在本文中，我们基于激光扫描仪传感器为滑移转向轮式车辆开发了一种分析和实验运动学方案。运动学模型基于二维运动平面上履带瞬时旋转中心（ICR）的有界性建立。引入运动学参数（ICR系数、路径曲率变量和机器人速度），包括车辆动力学的影响，来描述运动学模型。然后，使用一个精确但成本高昂的动力学模型，该模型对车辆的稳态响应仿真显示了指定参数和之间的定性关系。此外，基于带有滑移转向机器人平台Pioneer P3-AT的激光扫描仪定位实验分析方法确定运动学模型的参数。研究了ICR系数与两个物理因素之间的关系，即路径曲率半径和机器人速度。推导了机器人ICR系数与路径参数之间基于经验函数的关系。为了验证所得结果，通过实验证明所提出的运动学模型显著提高了这种滑移转向机器人的航位推算性能。

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