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80 lines
4.5 KiB
Markdown
80 lines
4.5 KiB
Markdown
# Rovers
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<LinkedBadge type="warning" text="Experimental" url="../airframes/#experimental-vehicles"/>
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:::warning
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Support for rover is [experimental](../airframes/index.md#experimental-vehicles).
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Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
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:::
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:::tip
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Rover is not in the default PX4 firmware downloaded from QGC.
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Unlike for other vehicle types you will need to install it as custom firmware.
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For more information see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build).
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:::
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PX4 provides support for the three most common types of rovers:
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| Rover Type | Steering |
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| --------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [**Ackermann**](#ackermann) | Direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc. |
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| [**Differential**](#differential) | Direction is controlled by moving the left- and right-side wheels at different speeds. |
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| [**Mecanum**](#mecanum) | Direction is controlled by moving each mecanum wheel individually at different speeds and in different directions. |
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The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
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## Ackermann
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<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
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An Ackermann rover controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
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This kind of steering is used on most commercial vehicles, including cars, trucks etc.
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:::info
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PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover.
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:::
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## Differential
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<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
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A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
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Forward motion is achieved by driving both wheels at the same speed in the same direction.
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Rotation is achieved by driving the wheels at different speeds in opposite directions, allowing the rover to turn on the spot.
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:::info
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The differential setup also work for rovers with skid or tank steering.
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:::
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## Mecanum
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<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
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A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
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Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
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## See Also
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- [Drive Modes](../flight_modes_rover/index.md)
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- [Configuration/Tuning](../config_rover/index.md)
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- [Apps & API](../flight_modes_rover/api.md)
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- [Complete Vehicles](../complete_vehicles_rover/index.md)
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## 시뮬레이션
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PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features:
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- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
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- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
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- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)
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