非平坦地形下移动机器人航迹推测方法研究

精确可靠的航迹推测是实现移动机器人自主导航的一个极为关键的环节.针对一个3摇杆6驱动轮的移动机器人实验平台,本文提出了其在非平坦地形下的航迹推测方法.通过运动机构的分析,获得了移动机器人自身的位姿及运动参数.基于非平坦地形下运动机构间的刚体约束,建立了机器人的运动学模型.采用编码器、光纤陀螺仪和倾角传感器等测量机器人的动态参数信息,依据其运动学模型实现非平坦地形下的航迹推测、仿真,并分析验证了航迹推测方法的有效性,从而提高了移动机器人自主导航的定位精度.

Study on Dead Reckoning for a Mobile Robot on Uneven Terrain

It is a very important link for autonomous navigation of mobile robot to have an ability in accurate and reliable dead reckoning. Hence, this paper presents a dead reckoning method for an experimental platform of mobile robot with three rocker-bogie suspensions and six drive wheels on uneven terrain. The pose and motion parameters of mobile robot are obtained by the analysis of locomotion architecture, and its kinematic model is built based on the rigid constrains. Sensors such as odometry, fiber optic gyros and tilt are used to measure the dynamic parameters information, then dead reckoning of mobile robot is realized on uneven terrain according to its kinematic model. Simulation result using this robot platform demonstrates the effectiveness of the dead reckoning method which enhances the localization precision of autonomous navigation of mobile robot.