Attitude Algorithm of Portable Mobile Robot

摘要

Base on the characteristic of portable mobile robot, this paper adopts quaternion implementation to update the attitude of the robot.The solution of the differential equation is obtained by four-order Runge-Kutta.The simulation proved this method can ab-solutely meet the needs of the accuracy of the mobile robot.Given reasonable transform expressions, makes quaternion implementation and the euler angles corresponding in the range of robot moving.