会议专题

Study on Kinematics Modeling of Mobile Robot in Rough Terrain

Kinematics modeling is an indispensable component for dead reckoning of mobile robot. Aimed at this problem in rough terrain, the kinematics model is analyzed by the rigid-body kinematical constraints of mobile robot that is on the basis of locomotion architecture with the wheeled and rocker-bogie suspension system. At the same time, a method of kinematics model integrated with wheel-ground contact angle is suggested, which is able to fuse the information from multiple sensors and to estimate the three-dimensional motion trajectory of mobile robot. With the simulation and real experiment in different terrain, the exactness and effectiveness of this method are demonstrated.

Mobile Robot Kinematics Modeling Rough Terrain

Yu Jinxia Cai Zixing Duan Zhuohua

College of Computer Science and Technology, Henan Polytechnic University, Jiaozuo 454003, China College of Information Science and Engineering, Central South University, Changsha 410083, China Department of Computer, Shaoguan University, Shaoguan 512003, China

国际会议

2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

广西桂林

英文

620-625

2009-06-17(万方平台首次上网日期,不代表论文的发表时间)