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首页> 外文期刊>International Journal of Advanced Robotic Systems >Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle
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Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

机译：地形自适应无人机的导航优化方法

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The goal of this article is to design a navigation algorithm to improve the capabilities of an all-terrain unmanned ground vehicle by optimizing its configuration (the angles between its legs and its body) for a given track profile function. The track profile function can be defined either by numerical equations or by points. The angles between the body and the legs can be varied in order to improve the adaptation to the ground profiles. A new dynamic model of an all-terrain vehicle for unstructured environments has been presented. The model is based on a half-vehicle and a quasi-static approach and relates the dynamic variables of interest for navigation with the topology of the mechanism. The algorithm has been created using a simple equation system. This is an advantage over other algorithms with more complex equations which need more time to be calculated. Additionally, it is possible to optimize to any ground-track-profile of any terrain. In order to prove the soundness of the algorithm developed, some results of different applications have been presented.
机译：本文的目的是设计一种导航算法，通过针对给定的轨迹轮廓函数优化其配置（其腿部与主体之间的角度）来优化全地形无人地面车辆的功能。轨迹轮廓函数可以通过数值方程或点来定义。身体和腿之间的角度可以改变，以改善对地面轮廓的适应性。提出了一种用于非结构化环境的全地形车的新动力学模型。该模型基于半车和准静态方法，并将导航所需的动态变量与该机制的拓扑相关联。该算法是使用简单的方程式系统创建的。与具有更复杂方程的其他算法相比，这是一个优点，这些算法需要更多的时间来计算。另外，可以优化到任何地形的任何地面轨迹轮廓。为了证明所开发算法的正确性，提出了一些不同应用的结果。

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