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| 论文题目： |
Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor |
| 第一作者： |
Xu, He;Xu, Yan;Wang, Peiyuan;Yu HP(于洪鹏);Ani, Ozoemena Anthony;Gao, X. Z. |
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| 发表刊物： |
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL |
| 发表年度： |
2017 |
| 卷,期,页： |
44,6,798-807 |
| 论文出处： |
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| 论文摘要： |
Purpose - The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy. Design/methodology/approach - First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including "rigid wheel - rigid terrain" model and "rigid wheel - deformable terrain" model. Findings - In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results. Originality/value - This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors. |
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