[学习SLAM]轮速仪的建模/机器人运动模型详细分析（理论篇）

最新推荐文章于 2024-05-13 07:23:48 发布

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最新推荐文章于 2024-05-13 07:23:48 发布

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分类专栏： SLAM ROS

本文链接：https://blog.csdn.net/KYJL888/article/details/100515455

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机器人运动模型

由其他组采集到的轮速数据需要根据公式将速度转化为位移量，具体机器人运动模型有两大类。如下：

模型1

模型1 同类表达1-1

模型1 同类表达1-2

模型2

模型2 同类表达2-1

用轮速计实现双轮差动机器人的位姿估计

模型2 同类表达2-2 (图中坐标xy与公式相反)

模型2 同类表达2-3

mode 1

http://faculty.salina.k-state.edu/tim/robotics_sg/Control/kinematics/unicycle.html

12.1.3. The Unicycle Model

Dealing with the displacement and velocities of the two wheels of a differential drive robot is messy. A preferred model is that of a unicycle, where we can think of the robot as having one wheel that can move with a desired velocity () at a specified heading ( $\phi$ ). Having the equations to translate between the unicycle model and our wheel velocities is what allows us to simplify the robot with the unicycle model. We have seen how to take measured wheel displacements to calculate the new robot pose. Now we do the reverse and calculate the desired wheel velocities from the unicycle model.

../../_images/unicycle.png

The Simplified Unicycle Robot Model

Note

We represent the measured forward velocity and robot orientation with variables V_x and $\theta$ . The desired speed and direction are represented with the unicycle model using variables and $\phi$ .

In the global coordinate frame, we can represent the velocity of the unicycle robot as:

(1) $\mathcal{U} = \left[ \begin{array}{c} \dot{x} \\ \dot{y} \\ \dot{\phi} \end{array} \right] = \left[ \begin{array}{c} V \!\cos\,\phi \\ V \!\sin\,\phi \\ \omega \end{array} \right]$

12.1.3.1. The Jacobian

The kinematics of mechanical systems are often described in terms of Jacobian matrices. A Jacobian defines how movement of parts of a system affect the movement of the whole or a larger part of the system. Let V_s be the velocity vector of the system, $\mathcal{P}$ be the pose of the system, and

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[学习SLAM]轮速仪的建模/机器人运动模型详细分析（理论篇）

机器人运动模型由其他组采集到的轮速数据需要根据公式将速度转化为位移量，具体机器人运动模型有两大类。如下：模型1模型1 同类表达1-1模型1 同类表达1-2模型2模型2 同类表达2-1用轮速计实现双轮差动机器人的位姿估计模型2 同类表达2-2 (图中坐标xy与公式相反)模型2 同类表达2-3mode 1...
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