惯性参数对两轮差速驱动移动机器人运动的影响
首发时间:2013-05-09
摘要:本文分析了两轮差速驱动移动机器人的惯性参数与移动机器人运动轨迹的相互影响,结合直流电机系统非线性模型和移动机器人运动学模型,得到了反映移动机器人惯性参数影响的两轮差速驱动移动机器人运动模型。将考虑和不考虑惯性参数对电机系统影响两种情况分别进行了直线行驶和曲线行驶的比较。仿真对比表明,在快速运动情况下考虑和不考虑惯性参数对移动机器人运动轨迹的影响具有较大差异。
关键词: 移动机器人 惯性参数 运动学模型 电机模型 遗传算法
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Effect of inertia parameters on the motion of differentially driven two-wheeled Mobile robot
Abstract:For differentially driven two-wheeled mobile robot, the interrelationship is analyzed between inertia parameters and the trajectory of wheeled mobile robot. Through a combined study on the robot' kinematic model and the DC motor system's nonlinear model, the motion model showing the effect of inertia parameters is derived. As for whether or not inertia parameters are considered, we conduct comparative trials when the robot moves in the direction across a straight line as well as a curve respectively. Simulation results show that the trajectory with considering the impact of inertia parameters on the robot have a bigger difference than that without considering it.
Keywords: mobile robot inertia parameters kinematic model motor model genetic algorithm
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