Modeling and Analysis of Wheel Mobile Robot for High-speed Precise Drift

被引：0

作者：

Wang, Hongpeng ^{[1
]}

Zhao, Lei ^{[1
]}

Yang, Yun ^{[1
]}

Yan, Yinhui ^{[1
]}

Liu, Jingtai ^{[1
]}

机构：

[1] Nankai Univ, Inst Robot & Automat Informat Syst, Tianjin 300071, Peoples R China

来源：

PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年

关键词：

High-speed; Wheel Mobile Robot; Precise Drift; Modeling;

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：

At present, autonomous motion control for high-speed mobile robot is one of bottlenecks that restrict the development of mobile robot technology. It is very dangerous when the vehicle is in a instable drift state, in which state it is difficult to model and realize effective control. Therefore, general high-grade cars take measures, such as ABS technology, to curb drift in order to make the car stable when turning. This paper takes a research on the technology of "high precision drift control", which make it controllable to turn in a high-speed drift state for wheeled mobile robots. The maneuverability of high-speed mobile robot can be performed completely in theory. Firstly, this paper analyzes the mechanism of drift movement, and then models the process of mobile robot drift. Finally, we make a series of simulation for the high precision drift based on Matlab to verify the accuracy of the model.

引用

页码：5064 / 5069

页数：6

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