{"title":"自动驾驶机器人车辆的打滑转向","authors":"Róbert Üveges, F. Ďurovský, V. Fedák","doi":"10.1109/EDPE.2019.8883907","DOIUrl":null,"url":null,"abstract":"The paper deals with principles of motion control of skid steered robotic vehicle. The proposed control of drives allows the vehicle to move on uneven terrain with different surface or inclination of the vehicle. Control was checked on physical model of robotic vehicle. Inaccuracy of odometric calculation based on wheel speed sensors is eliminated by visual odometry based on stereoscopic camera system in combination with signals from inertial sensors. Solution is based on robotic operation system ROS to ensure reusability and compatibility with another hardware platforms. Further, it has also been demonstrated that the use of electric drive for vehicles with skid steer can be energy efficient.","PeriodicalId":353978,"journal":{"name":"2019 International Conference on Electrical Drives & Power Electronics (EDPE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Skid Steering of Robotic Vehicle for Autonomous Applications\",\"authors\":\"Róbert Üveges, F. Ďurovský, V. Fedák\",\"doi\":\"10.1109/EDPE.2019.8883907\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper deals with principles of motion control of skid steered robotic vehicle. The proposed control of drives allows the vehicle to move on uneven terrain with different surface or inclination of the vehicle. Control was checked on physical model of robotic vehicle. Inaccuracy of odometric calculation based on wheel speed sensors is eliminated by visual odometry based on stereoscopic camera system in combination with signals from inertial sensors. Solution is based on robotic operation system ROS to ensure reusability and compatibility with another hardware platforms. Further, it has also been demonstrated that the use of electric drive for vehicles with skid steer can be energy efficient.\",\"PeriodicalId\":353978,\"journal\":{\"name\":\"2019 International Conference on Electrical Drives & Power Electronics (EDPE)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 International Conference on Electrical Drives & Power Electronics (EDPE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/EDPE.2019.8883907\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Electrical Drives & Power Electronics (EDPE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EDPE.2019.8883907","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Skid Steering of Robotic Vehicle for Autonomous Applications
The paper deals with principles of motion control of skid steered robotic vehicle. The proposed control of drives allows the vehicle to move on uneven terrain with different surface or inclination of the vehicle. Control was checked on physical model of robotic vehicle. Inaccuracy of odometric calculation based on wheel speed sensors is eliminated by visual odometry based on stereoscopic camera system in combination with signals from inertial sensors. Solution is based on robotic operation system ROS to ensure reusability and compatibility with another hardware platforms. Further, it has also been demonstrated that the use of electric drive for vehicles with skid steer can be energy efficient.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
