In view of the technical difficulties of autonomous navigation in local areas,this paper proposes a high-precision autonomous navigation shared bal-ancing bike system based on EKF-SLAM.This system uses the EKF-SLAM alg...In view of the technical difficulties of autonomous navigation in local areas,this paper proposes a high-precision autonomous navigation shared bal-ancing bike system based on EKF-SLAM.This system uses the EKF-SLAM algorithm in robot localization to achieve simultaneous localization and map con-struction using the extended Kalmanfilter.At the same time,GPS and IMU are also employed for absolute positioning,and point cloud matching is used for rel-ative positioning to achieve multisensor fusion positioning.For the convenience of users,this system uses the RNN-T model for speech recognition destinations.Through experimental verification,the EKF-SLAM-based autonomous naviga-tion technology proposed in this paper can meet the accurate localization service and can realize the function of high precision autonomous navigation and voice recognition of destinations for shared balancing vehicles in a local area.展开更多
This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle mode...This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.展开更多
文摘In view of the technical difficulties of autonomous navigation in local areas,this paper proposes a high-precision autonomous navigation shared bal-ancing bike system based on EKF-SLAM.This system uses the EKF-SLAM algorithm in robot localization to achieve simultaneous localization and map con-struction using the extended Kalmanfilter.At the same time,GPS and IMU are also employed for absolute positioning,and point cloud matching is used for rel-ative positioning to achieve multisensor fusion positioning.For the convenience of users,this system uses the RNN-T model for speech recognition destinations.Through experimental verification,the EKF-SLAM-based autonomous naviga-tion technology proposed in this paper can meet the accurate localization service and can realize the function of high precision autonomous navigation and voice recognition of destinations for shared balancing vehicles in a local area.
文摘This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.
