移动机器人里程计系统误差的校正方法  

Calibration Method of Systematic Odometry Errors of Mobile Robot

作　　者：张铁[1] 陈伟华[1,2] 邹焱飚[1] 马琼雄[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640 [2]华南理工大学广州学院工程研究院,广东广州510800

出　　处：《华南理工大学学报（自然科学版）》2014年第9期7-11,共5页Journal of South China University of Technology(Natural Science Edition)

基　　金：广东省-教育部产学研结合项目(2012B090600028);广东省科技计划项目(2011A091101001;2012B010900076);广州市科技计划项目(2014Y2-00014)

摘　　要：为提高系统的定位精度和减小系统误差,针对低运动控制模型精度移动机器人,基于3个主要的系统误差来源——"左右轮子直径的不相等"、"轮距的不确定"和"左右轮子直径实际的平均值与标称平均值不相等"所产生的位置误差和方向误差,提出了校正里程计系统误差的方法,并设计校正实验来校正系统参数——左右轮子的直径和轮距.该校正方法分别考虑了系统误差对机器人直线运动和旋转运动的影响,通过直线运动和旋转运动的实验数据校正系统参数.实验结果表明,校正后的系统参数更接近其实际值,系统误差更小,系统定位精度更高,并且实验简单,容易操作.In order to improve the localization accuracy and to reduce the systematic errors,a calibration method of systematic odometry errors is proposed for the mobile robot with a low accuracy of motion control model,and an experiment is designed to correct the system parameters,namely,the left and right wheel diameters and the wheelbase.This calibration method takes into account the position and orientation errors caused by three main systematic error sources,namely,the inequality between left and right wheel diameters,the uncertainty of wheelbases and the difference between the average actual wheel diameter and the nominal wheel diameter.This calibration method also considers the influences of the systematic errors on the linear motion and the rotation motion of the mobile robot,and uses the experimental data of linear motion and rotation motion to correct the systematic parameters.Experimental results demonstrate that the corrected diameters are closer to their actual values with smaller systematic errors and higher localization accuracy,and the experiment is simple and easy to handle.

关 键 词：移动机器人 里程计 系统误差 定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]