Study on kinematics modeling of mobile robot in rough terrain

Kinematics modeling is an indispensable component for dead reckoning of mobile robot. Aimed at this problem in rough terrain, the kinematics model is analyzed by the rigid-body kinematical constraints of mobile robot that is on the basis of locomotion architecture with the wheeled and rocker-bogie suspension system. At the same time, a method of kinematics model integrated with wheel-ground contact angle is suggested, which is able to fuse the information from multiple sensors and to estimate the three-dimensional motion trajectory of mobile robot. With the simulation and real experiment in different terrain, the exactness and effectiveness of this method are demonstrated.