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An overview of wheelchair kinematics, focusing on position estimation techniques such as ackerman steering, synchro drive, and omni-directional drives. Topics include the instantaneous centre of curvature (icc), basic position estimation equations, ackerman steering geometry, and the advantages and disadvantages of different drive systems. Additionally, the document discusses beacon-based localization methods, including trilateration and triangulation.
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Instantaneous Centre of Curvature (ICC)
motion must be consistent
Nonholonomic constraint Docsity.com
Ackerman Steering
Ackerman Steering (cont.1)
Θo Θi
Ackerman equation:
l
d cotΘ (^) i −cotΘ o = where:
Θi = relative steering angle of inner wheel; Θo = relative steering angle of outer wheel; l = longitudinal wheel separation; d = lateral wheel separation. Docsity.com
Synchro Drive
Synchro Drive
Tricycle Problems
Omni-Directional Drives
Triangulation
Active triangulation
Photo detector
Calibration – signals are measured on two preliminary known distances between the sensors and the object.