差速驱动机器人的紧急避障机动

中文摘要 AI 辅助

紧急避障要求移动机器人在可用距离内制动或改变航向。本文研究了差速驱动机器人的机动性能和里程计误差对接近速度的依赖性。足迹间隙分析和归一化车轮运动指数为五种制动和转向机动提供了运动学描述。主要实验包括在瓷砖地面上进行的540次分块随机试验，其中539次被保留，命令接近速度为45、55和65厘米/秒。一个顶置摄像头提供了独立的位姿参考。当在完整运动记录上评估编码器、陀螺仪和摄像头航向变化时，两种反向旋转机动在最低和最高速度之间的平均编码器差异增加了4.7-5.1度；弧线机动和制动辅助枢转机动变化小于0.4度。在调整距离、速度、机动、日期和转向方向后，较大的编码器差异与较低的避障成功率相关。陀螺仪差异在反向旋转中保持约3度。估计的90%成功率下的反应距离及其不确定性量化了机动权衡。结果支持紧急机动的速度特定经验表征，并将编码器误差与恢复运动和测量窗口不匹配区分开来。

英文摘要

Emergency obstacle avoidance requires a mobile robot to brake or change its heading within the available distance. This paper investigates the dependence of maneuver performance and odometric error on approach speed for a differential-drive robot. A footprint-clearance analysis and a normalized wheel-motion index provide a kinematic description of five braking and turning maneuvers. The principal experiment comprises 540 block-randomized trials on tile, of which 539 are retained, at commanded approach speeds of 45, 55, and 65 cm/s. An overhead camera provides an independent pose reference. When encoder, gyro, and camera heading changes are evaluated over complete motion records, the mean encoder discrepancy increases by 4.7-5.1 degrees for the two reverse-spin maneuvers between the lowest and highest speeds; the arc and brake-assisted pivot change by less than 0.4 degrees. Larger encoder discrepancy is associated with lower avoidance success after adjustment for distance, speed, maneuver, day, and turn direction. Gyro discrepancies remain approximately 3 degrees for the reverse spins. Estimated reaction distances for 90% success and their uncertainty quantify the maneuver trade-offs. The results support speed-specific empirical characterization of emergency maneuvers and distinguish encoder error from recovery motion and measurement-window mismatch.

发表机构

• Missouri University of Science and Technology（密苏里科技大学）

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