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Probabilistic Robotics

Probabilistic Robotics. Wheeled Locomotion. Locomotion of Wheeled Robots. Locomotion (Oxford Dict.): Power of motion from place to place Differential drive (AmigoBot, Pioneer 2-DX) Car drive (Ackerman steering) Synchronous drive (B21) Mecanum wheels, XR4000. ICC.

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Probabilistic Robotics

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  1. Probabilistic Robotics Wheeled Locomotion

  2. Locomotion of Wheeled Robots Locomotion (Oxford Dict.): Power of motion from place to place • Differential drive (AmigoBot, Pioneer 2-DX) • Car drive (Ackerman steering) • Synchronous drive (B21) • Mecanum wheels, XR4000

  3. ICC Instantaneous Center of Curvature For rolling motion to occur, each wheel has to move along its y-axis

  4. v l v r Differential Drive y w ICC q R x (x,y) l/2

  5. Differential Drive: Forward Kinematics ICC R P(t+dt) P(t)

  6. Differential Drive: Forward Kinematics ICC R P(t+dt) P(t)

  7. v l v r Ackermann Drive y w ICC j j d q R x (x,y) l/2

  8. y v(t) q x w( ) t Synchonous Drive

  9. Synchro-Drive Robot

  10. ICC XR4000 Drive y vi(t) q x wi(t)

  11. XR4000 [courtesy by Oliver Brock & Oussama Khatib]

  12. Mecanum Wheels

  13. Example: Priamos (Karlsruhe)

  14. Example

  15. Odometry

  16. Non-Holonomic Constraints • Non-holonomic constraints limit the possible incremental movements within the configuration space of the robot. • Robots with differential drive or synchro-drive move on a circular trajectory and cannot move sideways. • XR-4000 or Mecanum-wheeled robots can move sideways.

  17. Holonomic vs. Non-Holonomic • Non-holonomic constraints reduce the control space with respect to the current configuration (e.g., moving sideways is impossible). • Holonomic constraints reduce the configuration space.

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