Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor
文献类型：期刊论文
| 作者 | Ani, Ozoemena Anthony; Gao, X. Z.; Yu HP(于洪鹏); Wang, Peiyuan; Xu, Yan; Xu, He |
| 刊名 | INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
 |
| 出版日期 | 2017 |
| 卷号 | 44期号:6页码:798-807 |
| 关键词 | Sensors Robotics Mobile robots |
| ISSN号 | 0143-991X |
| 产权排序 | 2 |
| 通讯作者 | Xu, Yan |
| 中文摘要 | Purpose - The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy. Design/methodology/approach - First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including "rigid wheel - rigid terrain" model and "rigid wheel - deformable terrain" model. Findings - In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results. Originality/value - This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Industrial ; Robotics |
| 研究领域[WOS] | Engineering ; Robotics |
| 关键词[WOS] | TRACTION CONTROL ; ROBOTIC VEHICLES ; MOBILE ROBOT ; ROVER |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000413936600012 |
| 源URL | [http://ir.sia.cn/handle/173321/21220]  |
| 专题 | 沈阳自动化研究所_管理支撑部门 |
| 作者单位 | 1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China 2.Machine Vision and Pattern Recognition Laboratory, Lappeenranta University of Technology, Lappeenranta, Finland 3.Department of Agricultural and Bioresources Engineering, University of Nigeria, Nsukka, Nigeria 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Ani, Ozoemena Anthony,Gao, X. Z.,Yu HP,et al. Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2017,44(6):798-807. |
| APA | Ani, Ozoemena Anthony,Gao, X. Z.,Yu HP,Wang, Peiyuan,Xu, Yan,&Xu, He.(2017).Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,44(6),798-807. |
| MLA | Ani, Ozoemena Anthony,et al."Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 44.6(2017):798-807. |
入库方式： OAI收割
来源：沈阳自动化研究所
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