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Tracked robot slide parameter detection method

A parameter detection and robotics technology, applied in the field of robotics, can solve problems such as inaccuracy of kinematic models and difficulty in predicting driving trajectories, and achieve the effect of reducing convergence time, ensuring stability, and ensuring accuracy

Active Publication Date: 2018-05-04
安徽大科有道信息技术有限公司
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Problems solved by technology

The steering process of a crawler robot is always accompanied by slippage of the high-speed side track and low-speed side track, which leads to the inaccuracy of the kinematics model and brings more difficulties to the prediction of the driving trajectory.

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Embodiment Construction

[0020] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0021] The invention provides a sliding parameter detection method of a crawler robot. By introducing an optimal estimation theory and a terrain detection algorithm, the estimated value of the sliding parameter of the robot can be obtained. Compared with the existing technology, the advantages are: 1) For the case where the kinematic equation is nonlinear and the observation equation is linear, a colorless transformation is introduced in the state prediction process to ensure the accuracy of the state prediction in the case of strong nonlinearity 2) The introduction of the innovation covariance estimator can ensure the stability of the estimation method when the statistical characteristics of s...

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Abstract

The invention discloses a tracked robot slide parameter detection method. According to the method, by introducing an optimal estimation theory and a terrain detection algorithm, the estimation value of slide parameters of a robot can be obtained. The detection method includes the steps of conducting initialization, collecting data of sensors, conducting terrain detection, adjusting a process noisevariance of a slide system, detecting the state, updating the state and outputting an estimation value of a slide coefficient. In the process of predicting the state, a colorless conversion mode is introduced to ensure the accuracy of state prediction under a strong nonlinear condition; since the terrain detection is introduced, when an obvious change happens to terrains, the process noise variance of the slide system can be adjusted according to the method. By means of the adaptive mechanism, the stability of estimation of the slide coefficient can be ensured, the convergence time is shortened at the same time, and the method is suitable for scenes with complicated terrains.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for detecting sliding parameters of a crawler robot. Background technique [0002] Due to its superior passability and mobility, crawler robots are widely used in military, agricultural, Mars exploration and other fields. The steering process of a tracked robot is always accompanied by the slipping of the high-speed side track and the slipping of the low-speed side track, which leads to the inaccuracy of the kinematics model and brings more difficulties to the prediction of the driving trajectory. [0003] In the paper "Le A T, Rye D C, Durrant-Whyte H F. Estimation of track-soil interactions for autonomous tracked vehicles[C] / / IEEE International Conference on Robotics and Automation, 1997.Proceedings.IEEE,1997:1388-1393vol.2. In ", the author introduces the sliding coefficient into the traditional kinematics model, which can improve the accuracy of the kinematics model ...

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Application Information

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IPC IPC(8): G01M17/03
CPCG01M17/03
Inventor 李鲲刘葆林郑敏贾晓敏吕文君
Owner 安徽大科有道信息技术有限公司
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