轮履复合式军用地面探测车运动学建模及分析
Kinematics modeling and analysis of a military exploration vehicle with wheel-tracks
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摘要: 为更好的对军用探测车运动过程进行控制,提出了轮履复合式探测车运动学模型的构建方法.通过对轮履复合式移动系统结构进行分析,首先建立了探测车三维运动学模型,并推出了其运动方程;其次建立了探测车车体速度与车轮速度之间的雅可比矩阵,利用最小二乘法对车体速度进行求解,提供了获得探测车越障过程中位置和方位的方法.最后对探测车行进过程进行了运动仿真,数值仿真分析验证了运动学模型的正确性及轮履复合式移动系统的运动特性.Abstract: In order to make the locomotion of the exploration vehicle more controllable,a new method was presented to establish the kinematics model of the wheel-tracked exploration vehicle.By analyzing the structure of the moving system,the kinematics model of exploration vehicle was set up and kinematics equations were deduced.Then the velocity Jacobian matrix between the bodywork and the wheels was established,and least squares method was used to compute the bodywork's velocity to estimate the position and orientation of the exploration vehicle.At last,numerical simulation was made to prove the kinematics characteristics of the exploration vehicle,whilst the adaptability and capability of obstacle surmounting was validated.
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