基于UMBmark算法的移动机器人定位试验研究  

Research on mobile robot localization experiment based on UMBmark algorithm

作　　者：张胜宾[1] 赵祚喜[2] 

机构地区：[1]广东交通职业技术学院汽车与工程机械学院,广东广州510642 [2]华南农业大学工程学院,广东广州510642

出　　处：《现代电子技术》2018年第3期80-83,87,共5页Modern Electronics Technique

基　　金：国家自然科学基金:基于BUG的农田作业车辆绕行避障算法研究(61175081);948计划:精准农业智能关键装备技术引进与创新(2011-G32)~~

摘　　要：测程法是使用最广泛的移动机器人自主定位方法,具有短时定位精度较高,成本低廉的特点,缺点是无界的误差累积。在光滑规则的地面上运动时,系统误差是测程法的主要来源。为了提高移动机器人自主定位的精度,国内外专家尝试了多种改进方法,其中,UMBmark校核算法是使用最广泛的方法之一。概述了UMBmark校核方法"双向正方形路径试验"及其简化模型,利用Pioneer3-AT差动轮式移动机器人完成了UMBmark校核试验。结果表明,UMBmark校核算法使得Pioneer3-AT机器人自主定位的精度和稳定性均有较大提高。The odometry as one of the most widely-used autonomous positioning methods of mobile robot has the characteristics of high short-time location accuracy and low cost,but has unbounded error accumulation.The system error is the foundation of the odometry method when the robot is moving on a smooth and regular ground.In order to improve the accuracy of mobile robot′ s autonomous location,multiple improved methods have been tried by the experts in China and other countries,in which the UMBmark calibration algorithm is one of the most widely-used methods.The UMBmark calibration method for bidirectional square path test and its simplified model are summarized.The Pioneer3-AT differential wheeled mobile robot is used to complete the UMBmark check test.The test results show that the UMBmark calibration algorithm can improve the positioning accuracy and stability of Pioneer3-AT robot greatly.

关 键 词：移动机器人 定位 测程法 UMBmark算法 系统误差 校核试验 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]