面向轮式机器人导航的电机编码器信号解析  

Motor Encoder Signal Parsing for Wheel-Based Robot Navigation

作　　者：朱锦顺 孙作雷[1] 曾连荪[1] 张波[2] 

机构地区：[1]上海海事大学信息工程学院,上海201306 [2]中国科学院上海高等研究院,上海201210

出　　处：《测控技术》2015年第1期16-19,共4页Measurement & Control Technology

基　　金：国家自然科学基金项目(61105097;51279098);上海市教育委员会科研创新项目(13YZ081)

摘　　要：为满足低成本轮式移动机器人平台的导航需求,提出仅依靠增量式编码器信号解析相对运动的算法框架。基于双重条件校验,使用微控制器的外部中断辨识并记录编码器有效脉冲,监测编码器的双路信号逻辑判定轮子转向;通过对四驱刚体质点的适当等效,推导具有普适性的短时运动模型,并通过运动合成扩展到长时动作上。实地实验验证了算法的性能。本算法为移动机器人的位姿估算提供了新思路。To meet the navigation requirement of low-cost wheel-based mobile robot platform,an algorithm framework that parses robot relative motion only relying on the signals emitted from the incremental encoders,is proposed.By validating the two conditions,the encoder pulses are identified and counted with MCU＇ s external interruptions,and the wheel rotate direction is determined via the logic status evaluation of the encoder＇ s two channel signals.And by selecting the equivalent particle of the four-wheel-drive rigid body properly,the general short-term motion model is derived out,and extended to long-term motions through motion synthesis.The performance of the proposed algorithm is finally demonstrated by field test.The algorithm can be treated as a novel solution to the pose estimation for mobile robot.

关 键 词：电机编码器 移动机器人 数据解析 相对运动 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]