全地形移动机器人轮-地几何接触角估计

研究全地形移动机器人在不平坦地形中轮-地几何接触角的实时估计问题.本文以带有被动柔顺机构的六轮全地形移动机器人为对象,抛弃轮-地接触点位于车轮支撑臂延长线上这一假设,通过定义轮-地几何接触角δ来反映轮-地接触点在轮缘上位置的变化和地形不平坦给机器人运动带来的影响,将机器人看成是一个串-并联多刚体系统,基于速度闭链理论建立考虑地形不平坦和车轮滑移的机器人运动学模型,并针对轮-地几何接触角δ难以直接测量的问题,提出一种基于模型的卡尔曼滤波实时估计方法.利用卡尔曼滤波对机器人内部传感器的测量值进行噪声处理,基于机器人整体运动学模型对各个轮-地几何接触角进行实时估计,物理实验数据的处理结果验证了本文方法的有效性,从而为机器人运动学的精确计算和高质量的导航控制奠定了基础.

A real-time estimate method of wheel-terrain geometric contact angle for all-terrain mobile robots is studied in this paper.For a six-wheeled all-terrain mobile robot with a passive-compliant mechanism,the wheel-terrain geometric contact angleδis defined to reflect the effects of terrain profile and the contact relationship between the driven wheel and the terrain.The robot is treated as a series-parallel multi-rigid body system.The kinematical model of the robot body considering the unevenness of the terrain and wheel slips is developed based on closed velocity chain.Sinceδis hardly measured directly by on-board sensors,this paper proposes a model-based estimate method by using common on-board sensor data to on-line estimate the contact angleδ.The Kalman filter is used to fuse noisy sensor data.The experimental results demonstrate the availability and effectiveness of this method.

国家自然科学基金(60535010)资助~~