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pgv_agv's Introduction

程序流程

  1. 获取各个传感器的当前位姿
    • 编码器(获取某段时间内由编码器测得的速度、位移)
      • 获取时间阈值内各个车轮编码器的脉冲数
      • 由脉冲数计算车身的相对位移和速度
      • 坐标变换为全局坐标
    • PGV传感器(获取PGV传感器在世界坐标系中的位姿)
      • 获取PGV状态
      • 获取PGV在全局坐标系中的位姿
    • 陀螺仪（待定）
  2. 根据各个传感器的当前位姿，融合得到车体的位姿
    • 融合各个传感器的数据
      • PGV传感器的可信度最高
      • 编码器数据需滤波
    • 由融合数据更新传感器数据
      • 由融合数据更新编码器数据
  3. 处理指令
    • 运动控制
      • 获取期望速度，期望位姿
    • 参数处理
    • 传感器位姿校正
  4. 检查避障
    • 获取避障信息
    • 根据避障情况更新期望速度、期望位姿
  5. 运动控制
    • 根据期望位姿，期望速度更新实际速度
      • 采用Lyapunov控制律
    • 根据逆运动学控制车轮转速

pgv_agv's People

Contributors

zhang456xi avatar

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