Idea
在运动平面上的瞬时旋转中心是相对于robot是dynamics-dependent,but lie within a bounded area. Thus, optimizing constant ICR positions for a particular terrain results in an approximate kinematic model for tracked mobile robots.
Introduction
Tracked Mobile Robot 现在有如下这几种streer的方式:
- articulated steering
- curved track steering
- skid steering
这种是现在最常使用的,因为it is simpler from the mechanical standpoint and it achieves a faster response.
skid steering现在存在的问题:
variation of the relative velocity of the two tracks results in slippage as well as soil shearing and compacting in order to achieve steering. 这导致的最终问题就是:kinematics is not straightforward, since it is not possible to predict the exact motion of the vehicle only from the control inputs.
Approach
这篇文章提出的方法就是model kinematics for tracked vehicles by obtaining a geometric analogy with a wheeled differential drive model. 然后对模型进行参数辨识。
做出的假设:planar uniform hard terrain type and mobile robot operation at moderate speeds
Kinematics for Tracked Vehicles
kinematics:
(
v
x
,
v
y
,
w
z
)
=
f
d
(
V
l
,
V
r
)
(v_{x}, v_{y}, w_{z}) = f_{d}(V_{l}, V_{r})
(vx,vy,wz)=fd(Vl,Vr)
inverse kinematics:
(
V
l
,
V
r
)
=
f
i
(
v
x
,
v
y
,
w
z
)
(V_{l}, V_{r}) = f_{i}(v_{x}, v_{y}, w_{z})
(Vl,Vr)=fi(vx,vy,wz)
接下来就引入这篇文章中最重要的概念:瞬时旋转中心 Instantaneous Center of Rotation (
I
C
R
v
ICR_{v}
ICRv)
ICR is defined as the point in the horizontal plane where the motion of the vehicle can be represented by a rotation and no translation occurs.
不仅要entire body的运动,也要考虑the motion of both its tracks on their contact surface with the ground.
左右两边履带的旋转中心在local frame中的定义为 L C R l = ( x L C R l , y L C R l ) LCR_{l} = (x_{LCRl}, y_{LCRl}) LCRl=(xLCRl,yLCRl) and L C R r = ( x L C R r , y L C R r ) LCR_{r} = (x_{LCRr}, y_{LCRr}) LCRr=(xLCRr,yLCRr)
因为履带相比于body多了一个履带自身旋转的自由度,履带上的点的运动是body运动和履带旋转运动的结合,因此履带的LCR和body的LCR不一样。
Note: This definition refers to the LCR of track treads on the ground plane, not to their roll axis.
根据参考文献:
三个旋转中心都在平行于local X轴的直线。
x
I
C
R
v
=
−
v
y
w
z
x_{ICRv} = \frac{-v_{y}}{w_{z}}
xICRv=wz−vy
x
I
C
R
l
=
V
l
−
v
y
w
z
x_{ICRl} = \frac{V_{l} - v_{y}}{w_{z}}
xICRl=wzVl−vy
x
I
C
R
r
=
V
r
−
v
y
w
z
x_{ICRr} = \frac{V_{r} - v_{y}}{w_{z}}
xICRr=wzVr−vy
y
I
C
R
v
=
y
I
C
R
l
=
y
I
C
R
r
=
v
x
w
z
y_{ICRv} = y_{ICRl} = y_{ICRr} = \frac{v_{x}}{w_{z}}
yICRv=yICRl=yICRr=wzvx
下面分析一个重要性质:
如果robot几乎不旋转的话,
x
I
C
R
v
x_{ICRv}
xICRv就会无限大。但是
x
I
C
R
l
,
x
I
C
R
r
,
y
I
C
R
v
x_{ICRl},x_{ICRr}, y_{ICRv}
xICRl,xICRr,yICRv are bounded, 因为即使在近似直线运动时,分子和分母都是同阶的无穷小。
由上面几个公式,我们可以推导出forward kinematics和backward kinematics:
- forward kinematics
v x = V r − V l x I C R r − x I C R l y I C R v v_{x} = \frac{V_{r} - V_{l}}{x_{ICRr} - x_{ICRl}} y_{ICRv} vx=xICRr−xICRlVr−VlyICRv - inverse kinematics
V l = v y + x I C R l w z V_{l} = v_{y} + x_{ICRl}w_{z} Vl=vy+xICRlwz
下面我们要分析一下tracked vehicles和wheeled differential drive vehicles的异同
- 相同
对于上图中的那种情况(目前理解是wheeled vehicles没有轮子打滑的情况下),forward和inverse kinematics是相同的 - 不同
在没有侧向滑动的情况下,ideal wheels的ICRs are constant and coincident with the ground contact points.
Track ICRs are dynamics-dependent and always lie outside the track centerlines because of slippage.
Thus, less track slippage results in track ICRs that are closer to the vehicle.
此外,履带ICRs也会受到robot重心的影响。
下面,我们需要定义一些指标来定量描述一下LCRs对robot控制性能的影响。
- steering efficiency index
- normalized eccentricity index
以上讨论的目的是通过
I
C
R
l
ICR_{l}
ICRl和
I
C
R
r
ICR_{r}
ICRr将vehicle外部和内部的动力学影响引入到简单的运动学模型中。
I
C
R
l
ICR_{l}
ICRl和
I
C
R
r
ICR_{r}
ICRr are bounded variables for tracked vehicles and coincide with wheel contact points for ideal differential drive.
Identification of Tracked Kinematic Parameters
The identification process consists on finding three parameters:
- the local Y coordinate of track ICRs ( y I C R v = y I C R l = y I C R r y_{ICRv} = y_{ICRl}= y_{ICRr} yICRv=yICRl=yICRr)
- the local X coordinates of both track ICRs ( x I C R r x_{ICRr} xICRr and x I C R l x_{ICRl} xICRl)
以下介绍两种方法:
- Derivation of Track ICRs from the Simulation of the Dynamic Model