四轮移动机器人的前后轮双里程仪系统的误差分析  

ERROR ANALYSIS OF “REAR” AND “FRONT” WHEEL DUAL ODOMETER SYSTEM OF MOBILE ROBOTS WITH FOUR TIRES

作　　者：刘传才[1] 杨静宇[1] 江志明 

机构地区：[1]南京理工大学计算机系

出　　处：《机器人》1998年第2期143-147,共5页Robot

摘　　要：四轮移动机器人的驾驶和驱动系统的左右轮分别装上里程仪，里程仪的读数反映了车轮转过的角度和转向，在车轮直径固定的情况下，便可计算出车轮的移动距离．根据左右车轮的记数值，可以计算出车体的位置和方位．本文对前后轮双里程仪系统进行了对比分析，在相同的误差下，驱动轮双里程仪系统优于前轮驾驶角和双里程仪器系统，这对实际工作有指导作用．Odometers are fixed on left and right tires of the rear and front wheels of mobile robots with four tires, and the odometers record the angles and rotational directions of these tires. If the radius of the tires is fixed, we can calculate the moving distances of the tires. According to the readings of the odometers fixed on the left and right tires, we can calculate the location and orientation of the vehicle. In this paper, a comparison between dual odometer system of rear and front tires is made. It is concluded that, for equal errors, the dual rear wheel odometer system is superior to the front wheel steer angle and dual odometers. This conclusion is of benefit to practical work.

关 键 词：移动机器人 里程仪 误差分析 驾驶轮 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]