轮式机器人定点运动的姿态调整

摘要

To solve the wheeled robot with a turning radius( different from the car with caterpillar and autorotation) attitude adjustment at point during exercise. The combination of internal electronic compass with a mobile robot platform designates an individual coordinate system for the global coordinate system and initializes electronic compass,allowing the system to complete the body posture of the electronic compass synchronization. Due to the turning radius of the vehicle and the impact of the length of the body,the correct robot can not travel to a specified distance and accomplish the same body posture to solve this problem for the future of smart intelligent drive vehicle, which has a very important practical significance.%为解决带有转弯半径的轮式机器人(区别于带有履带、可原地自转的小车)在定点运动过程中的姿态调整。将电子罗盘与机器人移动平台组合起来，指定系统内某个体坐标系为全局坐标系并初始化电子罗盘，使系统完成车体与电子罗盘的姿态同步。由于车体转弯半径的存在以及车体长度的的影响，导致机器人无法正确行驶到指定的距离以及完成相同的车体姿态，所以解决这个问题对于未来智能车辆智能驾驶有十分重要的实用意义。