Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots...Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.展开更多
Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new ...Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.展开更多
基金Project(60775060) supported by the National Natural Science Foundation of ChinaProject(F200801) supported by the Natural Science Foundation of Heilongjiang Province,China+1 种基金Project(200802171053,20102304110006) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2012RFXXG059) supported by Harbin Science and Technology Innovation Talents Special Fund,China
文摘Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.
文摘Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.
