Estimation of Rotational Speeds of Skid-Steered Wheeled Mobile Robots Using an Improved Kinematic Model

被引：0
|
作者：
Dogru, Sedat [1 ]
Marques, Lino [1 ]
机构：
[1] Univ Coimbra, Inst Syst & Robot, Dept Elect & Comp Engn, P-3030290 Coimbra, Portugal
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2017年
关键词：
Skid-steer; kinematics; model; center of mass; terrain; UGV; ODOMETRY ERRORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
It has been generally assumed that skid-steered wheeled robots have good odometry during translations, but unacceptable odometry during rotations. In this paper we propose an improved kinematic model for skid steered wheeled robots that enables directly using wheel rotations to estimate angular velocities and hence improve dead reckoning performance. The proposed model also takes into account position of the center of mass, giving good results even if the center of mass is displaced considerably.
引用
收藏
页码：73 / 78
页数：6
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