Study on kinematics modeling of mobile robot in rough terrain

Authors:
Yu Jinxia;Cai Zixing;Duan Zhuohua
Affiliations:
College of Computer Science and Technology, Henan Polytechnic University, Jiaozuo, China;College of Information Science and Engineering, Central South University, Changsha, China;Department of Computer, Shaoguan University, Shaoguan, China
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese Control and Decision Conference
Year:
2009

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Abstract

Kinematics modeling is an indispensable component for dead reckoning of mobile robot. Aimed at this problem in rough terrain, the kinematics model is analyzed by the rigid-body kinematical constraints of mobile robot that is on the basis of locomotion architecture with the wheeled and rocker-bogie suspension system. At the same time, a method of kinematics model integrated with wheel-ground contact angle is suggested, which is able to fuse the information from multiple sensors and to estimate the three-dimensional motion trajectory of mobile robot. With the simulation and real experiment in different terrain, the exactness and effectiveness of this method are demonstrated.