Lecture 23. Dimitar Stefanov. Wheelchair kinematics. Recapping. Rolling wheels . Instantaneous Centre of Curvature (ICC). Nonholonomic constraint. motion must be consistent. Position Estimation. (x n+1 , y n+1 ). (x n , y n ). Basic position estimation equations are:. where:.
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Instantaneous Centre of Curvature (ICC)
motion must be consistent
Basic position estimation equations are:
D = vehicle displacement along path;
Θ = vehicle orientation (heading).
Θi = relative steering angle of inner wheel;
Θo = relative steering angle of outer wheel;
l = longitudinal wheel separation;
d = lateral wheel separation.
ΘSA = vehicle steering angle.
Dead reckoning for synchro-drive:
Let’s note the velocity of the wheelchair platform in x and y direction with Vx and Vy respectively.
Calibration – signals are measured on two preliminary known distances between the sensors and the object.
TRC Beacon navigation System