基于Accodometry法的两轮自平衡机器人位置估计研究  

Research on the Position Estimation Accodometry-Based for the Two-Wheeled Self-Balanced Robot

作　　者：王晓宇[1] 闫继宏[1] 秦勇[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《传感技术学报》2007年第4期785-789,共5页Chinese Journal of Sensors and Actuators

基　　金：长江学者和创新团队;发展计划资助项目(IRT0423)

摘　　要：针对两轮自平衡机器人运行过程中遇到打滑、越障、碰撞等异常事件,测程法进行位置估计失效的情况,提出一种Accodometry方法,通过融合码盘与加速度计数据对位置进行估计,解决了非系统测程法误差对机器人位置估计的影响,降低了加速度计固有漂移的不利影响,提高了两轮自平衡机器人的定位精度.实验验证了Accodometry方法的有效性,结果显示位置误差降为原来的1/4.Aiming at the anomaly events, such as the wheel-slippage, the travel over obstacle, the bump and so on, the odometry invalidates in position estimation. The accodometry method is presented to fuse the encoder data and the accelerometer data to estimate position. The effect of non-systematic errors on the robot position estimation is solved. The ill-effects of accelerometer inherent drift are eliminated. The position determination accuracy is increased. The experiment demonstrates the effectiveness of the accodometry approach. Experimental results show that the accodometry error is about four times smaller than the odometry-only error.

关 键 词：Accodometry法 两轮自平衡机器人 数据融合 位置估计 测程法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]