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A Novel Model-Based Method for Odometry Calculation of All-Terrain Mobile Robots

机译：一种新型基于模型的全地形移动机器人的测量计算方法

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摘要

A novel model-based method for odometry calculation of all-terrain mobile robots is proposed in this paper. Using an all-terrain mobile robot with passively compliant mechanism as an instance, this paper grasps the wheel slip as a key factor affecting the accuracy of odometry calculation by investigating the physical contact relationship between the wheel and the terrain. Firstly, the wheel slip model involving rolling slip, side slip and turning slip is investigated. Then, the whole kinematics model of the robot is built considering the above wheel slips. Finally, the odometry information is achieved based on solving the kinematics model of the robot and the dead-reckon operation. Both theoretical analyses and experimental results testify the correctness and validity of this method. Moreover, the odometry calculation method proposed in this paper can be easily performed based on on-board sensors without taking extra hardware cost.
机译：本文提出了一种新的基于模型的内径计算的模型方法。使用全地形移动机器人以被动兼容的机制为例，将轮滑作为影响车轮和地形之间的物理接触关系来抓住车轮滑动作为影响内径计算准确性的关键因素。首先，研究了涉及滚动滑动，侧滑动和车削套的车轮滑动模型。然后，考虑上面的车轮滑动，构建了机器人的整个运动学模型。最后，基于解决机器人的运动学模型和死估算操作来实现了内径信息。理论分析和实验结果都证明了这种方法的正确性和有效性。此外，本文提出的内径算术计算方法可以基于车载传感器容易地进行，而不采用额外的硬件成本。

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