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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.
In order to control the movement process of the rover better, a method to construct the kinematics model of rover hybrid rover is proposed.Through the analysis of the structure of the rover compound rover system, the three-dimensional kinematics model of the rover is established firstly, And the equation of motion is introduced. Secondly, the Jacobian matrix between the body speed of the rover and the wheel speed is established. The least squares method is used to solve the vehicle body speed. The method to obtain the position and orientation of the rover is provided At last, the motion simulation of rover traveling process is carried out, and the correctness of the kinematics model and the motion characteristics of the wheel compound mobile system are verified by numerical simulation.