Local accurate positioning method for rocker arm suspension structure patroller

A precise positioning and patrol technology, which is applied in the field of local precise positioning of roaming vehicles, can solve problems such as the influence of positioning results, the uncertainty of patrol movement, and local positioning errors

Pending Publication Date: 2019-11-22
BEIJING INST OF CONTROL ENG
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AI Technical Summary

Problems solved by technology

For the patrol device with rocker suspension chassis structure, its application environment is unstructured and complex undulating terrain. If only two-dimensional plane motion is considered, local positioning will produce large errors.
In addition, the slippage caused by movement on soft terrain will also bring uncertainty to the movement of the patroller, which will have a great impact on the positioning results

Method used

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  • Local accurate positioning method for rocker arm suspension structure patroller
  • Local accurate positioning method for rocker arm suspension structure patroller
  • Local accurate positioning method for rocker arm suspension structure patroller

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Embodiment Construction

[0065] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0066] The rover has a rocker-suspended chassis structure with six-wheel steering and six-wheel drive, which can passively adapt to natural undulating terrain, so it belongs to a wheeled mobile robot with nonholonomic constraints. The patrol wheel system of the present invention comprises six wheels: two front wheels, two rear wheels and two middle wheels, each wheel has steering ability, and the six wheels are on the same plane or not on the same plane.

[0067] If the coplanarity of the wheels cannot be guaranteed during the movement of the patroller, and if the wheels are not on the same plane, the three-dimensional space relationship must be considered to adjust the positioning method of the odometer of the wheel train. The generated position changes of each wheel relative to the whole device are substituted into the algorithm.

[0068] Ide...

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Abstract

The invention relates to a local accurate positioning method for a rocker arm suspension structure patroller, which comprises the following steps of: firstly calculating the theoretical instantaneousbody speed of the patroller under the action of six wheels, then calculating the theoretical instantaneous steering angular speed of the patroller under the action of six wheels, and finally calculating the position estimation information of the patroller with slip compensation. Compared with the prior art, the method has the advantages that the influence of topographic changes on the structure ofthe patrolling device can be well reflected. The calculation errors caused by slippage to whole device positioning are effectively reduced through indirect calculation and compensation. The method can be suitable for various complex terrains, has good walking performance and is high in practicability.

Description

technical field [0001] The invention relates to a local accurate positioning method of a rocker suspension structure patrol device, which can be applied to the local accurate positioning of a roaming vehicle with a rocker suspension chassis structure, using steering wheels to implement steering control, and equipped with an angular velocity measurement sensor . Background technique [0002] The local positioning of the patrol is also called relative position determination. Its task requirement is to determine the three-axis coordinates of the patrol during the movement process according to the measurement data of the patrol sensor in the navigation coordinate system with a certain starting point as the origin. [0003] For moving vehicles moving at low speed, due to the poor accuracy of position information obtained by accumulating and integrating, it is generally not possible to use the inertial navigation system for local positioning, and the positioning method based on th...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 滕宝毅邢琰刘祥贾永张晋顾朋李化云
Owner BEIJING INST OF CONTROL ENG
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