小滑移或低牵引力条件下粗糙地形探测机器人摩擦系数估算

Jiyong Kim, Younghwan Park, Hansol Lee, Jihong Lee
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引用次数: 0

摘要

地面摩擦系数的估计是保证探测机器人在不同环境下运行的重要因素之一。之前研究的基于牵引力-滑移曲线的摩擦系数估计算法是一种机器人在行驶过程中产生滑移时的摩擦系数估计方法。然而,在许多情况下,在真实环境中不会发生足够的滑移。本文根据滑移率和牵引力将其分为4种情况。在低滑动发生的情况下,我们对算法进行了改进,根据先前估计的地面信息估计低滑动区域的摩擦系数。并通过仿真验证了该方法在低滑移情况下的摩擦系数估计结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Estimation of Friction Coefficient for Exploring Robot around Rough-Terrain under Small-Slip or Less-Traction Condition
One of the important factors for the exploration robot to travel in diverse environments is estimation of friction coefficient on the ground. Algorithm for estimating friction coefficient based on the Traction-Slip Curve developed in the previous research is a method for estimating friction coefficient when there is slip generated while the robot is driving. However, in many cases, sufficient slip does not occur in the real environment. In this paper, we divided into 4 cases according to the slip ratio and traction. In the case of low slip occurrence, we modified the algorithm to estimate the friction coefficient on the low slip area based on the previously estimated ground information. And we show the result of estimation of friction coefficient under the condition of low slip through the simulation based on the proposed method.
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