Parameter Identification and Application of Slippage Kinematics for Tracked Mobile Robots

作     者：Hongyang Liu Jianzhong Wang Jian Gao 

作者机构：School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Great Wall Motor Co.Ltd.Baoding 071000HebeiChina 

出 版 物：《Journal of Beijing Institute of Technology》 (北京理工大学学报（英文版）)

年 卷 期：2019年第28卷第4期

页      面：687-695页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Defense Industrial Technology Development Program  (JCKY2017602C016) 

主　　题：tracked mobile robot tracked vehicle kinematics model slippage parameters fuzzy controller 

摘      要：A new parameter identification method is proposed to solve the slippage problem when tracked mobile robots execute turning *** motion is divided into two states in this paper:pivot turning and coupled turning between angular velocity and linear *** the processing of pivot turning,the slippage parameters could be obtained by measuring the end point in a square *** 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 *** identification results showed that slippage parameters were affected by ***,a fuzzy rule base was established with the basis on the identification data,and a fuzzy controller was applied to motion control and dead *** method effectively compensated for errors resulting in unequal tension between the left and right tracks,structural dimensions and *** results demonstrated that the accuracy of robot positioning and control could be substantially improved on a rigid floor.