Study of Navigation Methods Based on Embedded Dual-encoder
Based on the independent-research differential-driven robot platform, establish a robot motion model with dual-coding positioning system to provide the information feedback to robot navigation with the obtained robot’s position and attitude information. The feedback will restrain the parameter difference between two wheels and the impact of control performance caused by external disturbance so as to enhance the robot ability of adaptability. Use dedicated motor driver to drive travelling motor and acting motor and control it with position loop to improve the control accuracy. Microcontroller and FPGA coordinate to control the robot and implement the positioning navigation algorithm.
positioning navigation dual-driven robot PID
Jihong Liu Qing Guo Xin Cheng
College of Information Science and Engineering, Northeastern University, Shenyang 110819, China
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3475-3478
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）