{"title":"基于旋转编码器和陀螺仪的三轮机器人自主导航","authors":"Harshil Shah, Karan Mehta, S. Gandhi","doi":"10.1109/CICN.2014.244","DOIUrl":null,"url":null,"abstract":"Holonomic Robots are advantageous over non holonomic robots as they provide control to all of its degrees of freedom. Autonomous navigation of holonomic robots is expensive as it requires many costly odometry sensors. In this paper, a novel approach is proposed for the application of PID algorithm for autonomous navigation by reducing the complexity of 3 wheel drive to 2 wheel drive. A comparison with algorithms involving three encoders is discussed. Our system employs two rotary encoders instead of three and a yaw-rate gyroscope. Equations for generation of coordinates in free space are derived and trajectory following is performed. The algorithm has been successfully tested using various paths and speeds and the implementation results are described here.","PeriodicalId":6487,"journal":{"name":"2014 International Conference on Computational Intelligence and Communication Networks","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Autonomous Navigation of 3 Wheel Robots Using Rotary Encoders and Gyroscope\",\"authors\":\"Harshil Shah, Karan Mehta, S. Gandhi\",\"doi\":\"10.1109/CICN.2014.244\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Holonomic Robots are advantageous over non holonomic robots as they provide control to all of its degrees of freedom. Autonomous navigation of holonomic robots is expensive as it requires many costly odometry sensors. In this paper, a novel approach is proposed for the application of PID algorithm for autonomous navigation by reducing the complexity of 3 wheel drive to 2 wheel drive. A comparison with algorithms involving three encoders is discussed. Our system employs two rotary encoders instead of three and a yaw-rate gyroscope. Equations for generation of coordinates in free space are derived and trajectory following is performed. The algorithm has been successfully tested using various paths and speeds and the implementation results are described here.\",\"PeriodicalId\":6487,\"journal\":{\"name\":\"2014 International Conference on Computational Intelligence and Communication Networks\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 International Conference on Computational Intelligence and Communication Networks\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CICN.2014.244\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Conference on Computational Intelligence and Communication Networks","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CICN.2014.244","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Autonomous Navigation of 3 Wheel Robots Using Rotary Encoders and Gyroscope
Holonomic Robots are advantageous over non holonomic robots as they provide control to all of its degrees of freedom. Autonomous navigation of holonomic robots is expensive as it requires many costly odometry sensors. In this paper, a novel approach is proposed for the application of PID algorithm for autonomous navigation by reducing the complexity of 3 wheel drive to 2 wheel drive. A comparison with algorithms involving three encoders is discussed. Our system employs two rotary encoders instead of three and a yaw-rate gyroscope. Equations for generation of coordinates in free space are derived and trajectory following is performed. The algorithm has been successfully tested using various paths and speeds and the implementation results are described here.
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