| 摘要 |
A robotic vehicle includes two independent axially colinear wheels, wherein the wheels form the only contact with the floor when the robotic vehicle is at rest. A robot body is mounted between the wheels, and a ded-reckoning positioning system is mounted on the robot body. Each wheel includes a series of circumferentially spaced points forming the surface contact of said wheel with the floor. A graphical user interface is provided for manipulating the robotic vehicle. A robot attaching harness is on the robot body for coupling auxiliary equipment to the robotic vehicle. The ded-reckoning positioning system updates the relative position and orientation of the robotic vehicle through measurement of wheel rotation, and calculates an amount of slip for each wheel.
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