基于旋转编码器和陀螺仪的三轮机器人自主导航

2014 International Conference on Computational Intelligence and Communication Networks Pub Date : 2014-11-14 DOI:10.1109/CICN.2014.244

Harshil Shah, Karan Mehta, S. Gandhi

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引用次数: 4

摘要

完整机器人比非完整机器人更有优势，因为它们可以控制所有的自由度。完整机器人的自主导航是昂贵的，因为它需要许多昂贵的里程计传感器。本文提出了一种将PID算法应用于自主导航的新方法，将3轮驱动的复杂度降低到2轮驱动。讨论了涉及三种编码器的算法的比较。我们的系统采用两个旋转编码器而不是三个和一个偏航速率陀螺仪。推导了自由空间坐标生成方程，并进行了轨迹跟踪。该算法已成功地使用各种路径和速度进行了测试，并在这里描述了实现结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Autonomous Navigation of 3 Wheel Robots Using Rotary Encoders and Gyroscope

Holonomic Robots are advantageous over non holonomic robots as they provide control to all of its degrees of freedom. Autonomous navigation of holonomic robots is expensive as it requires many costly odometry sensors. In this paper, a novel approach is proposed for the application of PID algorithm for autonomous navigation by reducing the complexity of 3 wheel drive to 2 wheel drive. A comparison with algorithms involving three encoders is discussed. Our system employs two rotary encoders instead of three and a yaw-rate gyroscope. Equations for generation of coordinates in free space are derived and trajectory following is performed. The algorithm has been successfully tested using various paths and speeds and the implementation results are described here.

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2014 International Conference on Computational Intelligence and Communication Networks

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