论文标题
通过功率耗散法的轨道车辆运动学的运动学
The Kinematics of Tracked Vehicles via the Power Dissipation Method
论文作者
论文摘要
本文根据功率耗散方法为轨道机器人开发了一个新的准静态建模框架。给定一组轨道速度，此方法可以预测车辆的瞬时刚体运动。我们介绍了三个特定模型：在平坦地面上进行跟踪操作的模型，当轨道的Grouser Tip触摸地面时，用于车辆运动的模型，以及在楼梯上操作的模型。实验表明，这些模型比现有运动学模型更准确地预测了跟踪的车辆运动，并预测了其他模型未捕获的现象。这些新颖的模型为新的反馈控制方法提供了基础。
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific models: a model for tracked operation on flat ground, a model for vehicle motion when the track's grouser tips touch the ground, and a model for operation on stairs. Experiments show that these models predict tracked vehicle motion more accurately than existing kinematic models, and predict phenomena which are not captured by other models. These novel models provide a basis for new feedback control approaches.
