基于模型参数估计的履带式移动机器人航向保持

履带式移动机器人运动时,由于受到系统误差及履带地面接触效应等不确定因素的影响,会导致航向及路径偏差。本文采用模型参数估计的方法达到履带式移动机器人路径保持的目的。首先,考虑履带与地面的滑动效应,建立起机器人运动学模型;然后,对于模型中受环境影响的参数,利用扩展卡尔曼滤波进行在线估计;最后,采用合适的观测值实现闭环控制。通过在履带式极地冰雪面移动机器人的实验研究,验证所提方法的可行性和有效性。

Tracked mobile robot wouldn t be able to travel in accordance with the predetermined path as movement on the ground due to affected by some uncertainty factors such as system error and environmental changes.In this paper,to maintaining the path of tracked mobile robot a method of model parameter estimation is adopted.Firstly,considering the sliding effect between the track of robot and the ground the kinematics model of robot is established;Secondly,extended Kalman filter is used to estimate the parameter w...