摘要
两轮差速移动机器人的运动学缺陷会导致系统误差,影响机器人的导航和定位精度。为了降低移动机器人系统误差对定位精度的影响,对校准两轮差速移动机器人系统误差的方法进行了研究。通过机器人定距直线往返运动所产生的位置偏差,获得校准参数。采用直线和双方形封闭环路径试验,对调校参数有效性进行验证。试验结果表明:调校后移动机器人的位置偏差显著改善,调校后位置偏差改善程度分别达98.24%和97.35%。该运动学参系统误差调校方法为移动机器人数精确估计和里程调校精度的提高提供了理论参考。
The kinematics imperfections of two-wheel differential mobile robot will lead to systematic error,which will affect the navigation and positioning accuracy of the robot.In order to reduce the influence of systematic error of mobile robots on positioning accuracy,calibration scheme of the systematic error for two-wheel differential mobile robots were studied,and the calibration parameters are obtained through the position deviation generated by straight back and forth motion of the robot.The validity of the calibration parameters is verified by the experiments of back and forth straight path and two-sided closed loop square path.The experimental results show that the position deviation of the mobile robot is significantly improved after Calibration,and improvement indices of position deviation is 98.24%and 97.35%respectively.The proposed algorithm provides the theoretical basis for estimating the kinematic error parameters and improving the accuracy of odometry calibration significantly.
作者
刘怀民
王湘江
LIU Huaimin;WANG Xiangjiang(School of Resource Environmental and Safety Engineering,University of South China,Hengyang 421001,China)
出处
《自动化仪表》
CAS
2020年第7期72-78,共7页
Process Automation Instrumentation
基金
湖南省教育厅科学研究基金资助项目(18C0478)
衡阳市科学发展计划基金资助项目(2017KJ269)。
关键词
差速机器人
系统误差
运动学
调校
误差改善
里程
参数估计
Differential drive robots
Systematic error
Kinematics
Calibration
Error improvement
Odometry
Parameter estimation
