[1]任孝平,蔡自兴.基于阿克曼原理的车式移动机器人运动学建模[J].智能系统学报,2009,4(6):534-537.[doi:10.3969/j.issn.1673-4785.2009.06.011]
REN Xiao-ping,CAI Zi-xing.Using the Ackerman principle for kinematic modeling of wheeled mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(6):534-537.[doi:10.3969/j.issn.1673-4785.2009.06.011]
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REN Xiao-ping,CAI Zi-xing.Using the Ackerman principle for kinematic modeling of wheeled mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(6):534-537.[doi:10.3969/j.issn.1673-4785.2009.06.011]
基于阿克曼原理的车式移动机器人运动学建模
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
4
期数:
2009年第6期
页码:
534-537
栏目:
学术论文—人工智能基础
出版日期:
2009-12-25
- Title:
- Using the Ackerman principle for kinematic modeling of wheeled mobile robots
- 文章编号:
- 1673-4785(2009)06-0534-04
- 分类号:
- TP242.6
- 文献标志码:
- A
- 摘要:
- 基于阿克曼原理的轮式移动机器人运动学模型对于无人驾驶车辆的研究有着重要的意义.对轮式移动机器人的运动学特性进行了分析，建立了不考虑滑行、刹车等的轮式移动机器人的运动学模型.对该运动学模型引入了阿克曼约束，给出了描述机器人运动状态的转向角、航向角和转弯半径等物理量的数学公式.最后对该运动学模型进行仿真实验，验证了所建立的运动学模型的正确性，为进一步研究轮式移动机器人提供了理论分析的基础.
- Abstract:
- Applying the Ackerman principle to kinematic modeling of wheeled mobile robots is of vital importance for improving the performance of unmanned autonomous vehicles. The kinematic characteristics of wheeled mobile robots were analyzed in this paper, and a kinematic model was set up that did not consider sliding or braking. The Ackerman principle was then introduced to this kinematic model. Mathematical formulas were proposed for turning angle, steering angle and turning radius. These accurately reflect the movement status of the mobile robot, providing a theoretical basis for analysis of future intelligent vehicles. The conclusions were validated through a simulation.
- 参考文献/References:
-
［1］REN Xiaodong, FENG Zuren, CHANG Hong, MU Ruofeng. Kinematics modeling and analysis for three-wheel omnidirectional mobile robot［C］//Proceedings of the 7th World Congress on Intelligent Control and Automation. Chongqing, China, 2008:2608-2613.
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SONG Xiaokang, TAN Dalong, WU Zhenwei,WANG Yuechao. Kinematics modeling and analyses of all-terrain wheeled mobile robots［J］. Chinese Journal of Mechanical Engineering, 2008, 44(6)：148-154.
［5］TLALE N, DeVILLIERS M. Kinematics and dynamics modelling of a mecanum wheeled mobile platform［C］//15th International Conference on Mechatronics and Machine Vision in Practice (M2VIP08).Auckland,NewZealand, 2008:657-662.
［6］MUIR P F, NEUMAN C P. Kinematic modeling of wheeled mobile robots CMU-RI-TR-86-12［R］. Robotics Institute, Carnegie Mellon University, 1986.
［7］周文琴，贾英民. 4轮操纵车辆改进的自适应控制［C］//2002中国控制与决策学术年会论文集. 沈阳，2002：168-171.
ZHOU Wenqin, JIA Yingmin. Improvement adaptive control of 4WS car［C］//2002 Proceedings of Chinese Control and Decision Conference. Shenyang, 2002:168-171.
［8］邓召文，张福兴.基于转向半径的汽车稳态转向特性分析［J］.农业装备与车辆工程, 2007(1)：23-26.
DENG Zhaowen, ZHANG Fuxing.The analysis of steady-state steering characteristic turning radius-based in vehicle［J］. Agricultural Equipment & Vehicle Engineering, 2007(1):23-26.
［9］MORETTE N, NOVALES C, VIEYRES P. Inverse versus direct kinematics model based on flatness and escape lanes to control CyCab mobile robot［C］//2008 IEEE International Conference on Robotics and Automation. Pasadena, CA, USA, 2008:2240-2245.
［10］RATNER D, MCKERROW P. Dynamics of the Titan four-wheel drive mobile robot with floating Ackerman steering［C］// Brisbane,1999:144-149.
［11］孟??? 刚.车辆的转向特性与阿卡曼转向原理的分析［J］.机械研究与应用，2007，20(4)：36-38.
MENG Gang. Analysis of turning characteristic and the principle of Ackerman turning for vehicle［J］. Mechanical Research & Application,2007,20(4):36-38.
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备注/Memo
收稿日期：2009-10-02.
基金项目：国家自然科学基金资助项目(90820302，60805027)；国家博士点基金资助项目(200805330005)；湖南省院士基金资助项目(2009FJ4030).
作者简介：
任孝平，男,1984年生，博士研究生，主要研究方向为多机器人系统、通信网络等,发表学术论文10余篇.
蔡自兴，男，1938年生，教授、博士生导师, 国际导航与运动控制科学院院士、中国人工智能学会副理事长、中国自动化学会理事.主要研究方向为人工智能、机器人、智能控制,发表学术论文500余篇.
更新日期/Last Update:
2010-02-22