机器人视觉导航传感器光栅投射误差校正仿真  

Simulation of Grating Projection Error Correction of Robot Vision Navigation Sensor

作　　者：揭吁菡 熊丽婷 JIE Xu-han;XIONG Li-ting(Institute of Technology,East China Jiaotong University,Jiangxi Nanchang 330100,China)

机构地区：[1]华东交通大学理工学院,江西南昌330100

出　　处：《计算机仿真》2021年第9期381-385,共5页Computer Simulation

摘　　要：在机器人视觉导航中,传统的光栅投射校正方法中采用非线性迭代方法辨识参数,无法保证参数校正解的全局最优性。提出机器人视觉导航传感器光栅投射误差校正方法。考虑机器人视觉导航所处实际环境,仿真输出场景数据。依据传感器光栅投射产生的测量序列,得到标准线性的最小二乘形式。根据数据采样序列迭代识别参数,将传感器投射数据输入到位移解算器中,利用正弦信号以及余弦信号完成误差校正运算。实验结果表明,提出的机器人视觉导航传感器光栅投射误差校正方法定位精度高、分辨力水平高,其整体误差校正能力得到了加强。Generally, the traditional grating projection correction method is deficient for the global optimality of the parameter correction solution.Therefore, this paper presents a correction method of sensor grating projection error for robot vision navigation.According to the actual environment of robot vision navigation, the scene data was simulated and output.Based on the measurement sequence generated by the grating projection of the sensor, the standard linear least-square form was obtained.The parameters were identified iteratively by the data sampling sequence, and the sensor projection data was input into the displacement solver.Sine signal and cosine signal were used to complete the error correction operation.The experimental results show that the method has high positioning accuracy, resolution and improving overall error correction ability.

关 键 词：机器人 视觉导航 光栅传感器 误差校正 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]