摘要
本文研究全地形移动机器人在不平坦地形中轮-地几何接触角的实时估计问题。针对摇臂结构的月球车,设计了基于地形高层图、基于力学平衡、基于运动学约束,这三种轮-地接触角估计方法,其中后两种可用于轮-地接触角的在线估计。利用卡尔曼滤波对测量值进行噪声处理,物理实验数据的结果验证了本文方法的有效性。
A real-time estimate method of wheel-terrain geometric contact angle for all-terrain mobile robots is studied in this paper. To rocker-bogied lunar rover,the thesis brings up three methods to estimate the wheel-terrain contact angle. As based on digital evaluation map,force balance and kinematical constraint. The last two methods can be used on real time detection. The Kalman filter is used to fuse noisy sensor data. The experimental results demonstrate the availability and effectiveness of this method.
出处
《华北科技学院学报》
2010年第2期64-67,共4页
Journal of North China Institute of Science and Technology
