移动机器人运动模型辨识研究

RESEARCH ON MOTION MODEL RECOGNITION OF MOBILE ROBOT

本文提出了一种通过建立运动方程,应用系统辨识进行实验设计并得到模型参数的轮式机器人运动模型实验研究方法.该方法简单、可靠、精度高,对环境的适应性强,为深入研究移动机器人控制理论及方法,提供了一种行之有效的手段.

This article discusses a method of setting up motion model of mobile robot, by previously establishing motion equations then doing experiment design and parameter extimation using system recognition. It is simple, reliable, accurate and adaptable to environment, giving a effective procedure for deep study in the theory and methods of mobile robot control.