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Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

Wang T, Wu Y, Liang J, Han C, Chen J, Zhao Q - Sensors (Basel) (2015)

Bottom Line: Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and .Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT.To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

View Article: PubMed Central - PubMed

Affiliation: Robotics Institute, Beihang University, Beijing 100191, China. wtm_itm@263.net.

ABSTRACT
Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

No MeSH data available.


(a) A comparison of the measured width of the plate from the laser scanner and the actual value; (b) Error between measured width and actual one.
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sensors-15-09681-f010: (a) A comparison of the measured width of the plate from the laser scanner and the actual value; (b) Error between measured width and actual one.

Mentions: Data are collected in real time and processed off line with MATLAB. Figure 10a shows a comparison of the measured width of the plate from the laser scanner and the actual value. The measured ones, shown as a dot line red line, lies close enough to the actual value (a solid blue line). In Figure 10b, the mean difference between measured width and actual value is. In Table 2, it shows that the mean value of measured width is 0.289 m and the standard deviation is 0.003 m, and the maximum error is −0.01 m, corresponding to an extremely small ICR value estimatation error. The results demonstrate the effectiveness and the feasibility of the proposed laser scanner-based method.


Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

Wang T, Wu Y, Liang J, Han C, Chen J, Zhao Q - Sensors (Basel) (2015)

(a) A comparison of the measured width of the plate from the laser scanner and the actual value; (b) Error between measured width and actual one.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4481911&req=5

sensors-15-09681-f010: (a) A comparison of the measured width of the plate from the laser scanner and the actual value; (b) Error between measured width and actual one.
Mentions: Data are collected in real time and processed off line with MATLAB. Figure 10a shows a comparison of the measured width of the plate from the laser scanner and the actual value. The measured ones, shown as a dot line red line, lies close enough to the actual value (a solid blue line). In Figure 10b, the mean difference between measured width and actual value is. In Table 2, it shows that the mean value of measured width is 0.289 m and the standard deviation is 0.003 m, and the maximum error is −0.01 m, corresponding to an extremely small ICR value estimatation error. The results demonstrate the effectiveness and the feasibility of the proposed laser scanner-based method.

Bottom Line: Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and .Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT.To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

View Article: PubMed Central - PubMed

Affiliation: Robotics Institute, Beihang University, Beijing 100191, China. wtm_itm@263.net.

ABSTRACT
Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

No MeSH data available.