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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2019> 28(4): 687-695
Hongyang Liu, Jianzhong Wang, Jian Gao. Parameter Identification and Application of Slippage Kinematics for Tracked Mobile Robots[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(4): 687-695. doi: 10.15918/j.jbit1004-0579.18107
Citation: Hongyang Liu, Jianzhong Wang, Jian Gao. Parameter Identification and Application of Slippage Kinematics for Tracked Mobile Robots[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2019, 28(4): 687-695.doi:10.15918/j.jbit1004-0579.18107
shu

Parameter Identification and Application of Slippage Kinematics for Tracked Mobile Robots

doi:10.15918/j.jbit1004-0579.18107
  • 1.

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    Great Wall Motor Co., Ltd., Baoding 071000, Hebei, China

  • Received Date:2018-05-25
    Abstract
  • A new parameter identification method is proposed to solve the slippage problem when tracked mobile robots execute turning motions. Such motion is divided into two states in this paper:pivot turning and coupled turning between angular velocity and linear velocity. In the processing of pivot turning, the slippage parameters could be obtained by measuring the end point in a square path. In the process of coupled turning, the slippage parameters could be calculated by measuring the perimeter of a circular path and the linear distance between the start and end points. The identification results showed that slippage parameters were affected by velocity. Therefore, a fuzzy rule base was established with the basis on the identification data, and a fuzzy controller was applied to motion control and dead reckoning. This method effectively compensated for errors resulting in unequal tension between the left and right tracks, structural dimensions and slippage. The results demonstrated that the accuracy of robot positioning and control could be substantially improved on a rigid floor.
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    • References (15)
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