基于UMBmark和EKF的差速移动机器人传感器系统误差标定方法  

Calibration for Sensor Systematic Errors for Differential Mobile Robots Based on UMBmark and EKF

作　　者：卢纪凤 罗磊[1,2] 时轮 LU Jifeng;LUO Lei;SHI Lun(School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai 200240,China;Shanghai SmartState Technology Co.,Ltd.Shanghai 201306,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海交大智邦科技有限公司,上海201306

出　　处：《机械设计与研究》2020年第4期149-153,165,共6页Machine Design And Research

基　　金：国家04重大科技专项资助(2019ZX04027-001);上海市军民融合专项项目计划课题(2016-63)。

摘　　要：移动机器人在工程化应用之前需要对传感器的系统误差进行标定。传感器系统误差包括里程计系统误差和激光雷达安装误差。论文首先采用UMBmark方法离线标定里程计系统误差并进行了实验验证,然后使用EKF在线标定激光雷达的安装误差,并在Matlab中验证了EKF标定激光雷达的安装误差能收敛到误差真值。实验结果表明论文研究的标定方法可有效提高移动机器人的航迹推算精度。Before the application of mobile robot,the system error of sensor needs to be calibratedandthe sensor system errors include odometry system error and laser rangefinder installation error.Inthe paper,the system error of odometry is calibrated off-line by UMBmark methodand verified by experiments.Then,the installation error of laser rangefinder is calibrated on-line by EKF,and it is verified in MATLAB that the installation error of EKF calibration laser rangefinder can converge to the true value of error.The experimental results show that the dead-reckoning accuracy of mobile robotscan be effectively improve by the proposed calibration methods.

关 键 词：差速移动机器人 里程计标定 激光雷达安装误差标定:UMBmark EKF 

分 类 号：TH16[机械工程—机械制造及自动化]