移动机器人轮地接触角及滑移估计综述
首发时间:2010-01-04
摘要:移动机器人轮地接触状态对移动机器人的控制、位姿判断等有着重要的意义。本文对接地角估计及滑转估计两个方面的研究进行了概述,并简述了用于估计的常用方法,并且给出了轮地接触状态估计研究的发展趋势。
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A Survey on Wheel-Ground Contact Angle and Slipping Estimation of Mobile Robot
Abstract:Wheel-ground contact status is significant for the position and orientation judgment and control of mobile robot. Methods of estimating contact angle and slipping adopted previously is surveyed in this paper, mathematical approaches is illustrated briefly. The tendency of wheel-ground contact status estimation is discussed in the end
Keywords: mobile robot estimation contact angle slipping
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No.3843040711812625****
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