CAJ | 학술논문

在全向轮式移动机器人定位及导航算法中，存在特定方向驱动力小且高速走圆弧时超调和打滑的问题，针对此问题，本文进行了研究。首先介绍了全向随动轮定位数学模型及定位标定方法，然后着重分析包括全向轮速度合成、直线导航和圆弧导航在内的全向导航算法，最后分析全向轮式移动机器人定位及导航算法中存在的问题及产生的原因，提出改进算法，并通过实验测试。测试结果表明，适当地选取a值即在两个方向上适当的分配速度能够达到减小超调的目的。
재전향륜식이동궤기인정위급도항산법중，존재특정방향구동력소차고속주원호시초조화타활적문제，침대차문제，본문진행료연구。수선개소료전향수동륜정위수학모형급정위표정방법，연후착중분석포괄전향륜속도합성、직선도항화원호도항재내적전향도항산법，최후분석전향륜식이동궤기인정위급도항산법중존재적문제급산생적원인，제출개진산법，병통과실험측시。측시결과표명，괄당지선취a치즉재량개방향상괄당적분배속도능구체도감소초조적목적。
The problems in the driving force in a particular direction of small and overshoot and skid when high speed arc are researched, which existed in omni-directional wheel mobile robot’s positioning and navigation algorithms. First of all the omni-directional supporting roller positioning mathematical model and calibration method were introduced. Then navigation algorithms including omni-directional wheel speed synthesis,straight and circular navigation are emphat-ically analyzed. Finally the existing problems and reasons of omni-directional wheeled mobile robot’s positioning and navigation algorithms are analyzed, and then the improved algorithm are putted forward and tested through the experi-ment.The test results show that properly selecting a value in both directions namely proper allocation rate can reach the purpose of reduce the overshoot.