质心非对称履带式机器人转向半径的修正与验证

摘要

履带式机器人的应用现在越来越广泛,对其的操控性要求也就越来越高,其中最主要的操控指标就是转向半径的控制.实验证明履带式移动机器人的转向不仅受两条履带速度差的影响,而且与行走的地面情况和质心位置与形心位置的偏移量有关.本文通过理论分析建立了履带式机器人转弯半径简化计算式和修正计算式,并经过实验验证表明修正计算式是准确可靠的.%As the tracked mobile robot being used more and more widely, the requirement of its control is higher and higher.And the most important control parameter is turning radius.According to the experiments, the turning radius of tracked mobile robot is influenced not only the velocity difference of both tracks, but also the offset between mass position and shape center position when the tracked mobil is moving.In this paper, a simplified turning radius formula of tracked mobile robot and a modified formula through theoretical analysis are established.The experiment results show that the modified formula is accurate.