基于滚动时域优化的移动舞台机器人位姿估计  

Pose estimation of mobile stage robots based on moving horizonoptimization

作　　者：何德峰[1] 徐晨辉 朱威[1] 郑雅羽[1] HE Defeng;XU Chenhui;ZHU Wei;ZHENG Yayu(Collegeof Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2021年第6期608-613,622,共7页Journal of Zhejiang University of Technology

基　　金：国家重点研发计划项目(2018YFB1403704)。

摘　　要：为了解决舞台文化发展背景下移动舞台机器人的位姿估计问题,提出了一种基于滚动时域优化的移动舞台机器人位姿估计算法。结合移动舞台机器人的运动学模型和预设的参考位姿,采用PD控制实现了机器人对参考位姿的跟踪,建立了移动舞台机器人闭环误差系统模型。在此基础上,采用滚动时域估计算法实时估计机器人的跟踪误差,该算法在一个固定时域窗口内利用误差系统参数和测量数据进行迭代估计,结合参考位姿实现了对移动舞台机器人位姿的实时估计。以移动舞台机器人进行曲线运动为测试场景,仿真验证了该算法的有效性。Considering the pose estimation problems of mobile stage robots in the context of the development of stage culture,an algorithm of pose estimation for mobile stage robots is proposed based on recdeing horizon optimization.With the kinematics model of the mobile stage robot and the preset reference pose,the PD control is used to realize the robot's tracking of the reference pose,then the closed-loop error system model of the mobile stage robot is established.On this basis,to estimate the robot's tracking error in real time,the moving horizon algorithm is used,which uses error system parameters and measurement data for iterative estimation within a fixed horizon window,then the real-time estimation of pose for the mobile stage robot is realized by combining with the reference pose.The curved motion of the mobile stage robot is taken for example of an experimental scenario to verify the effectiveness of the proposed method.

关 键 词：移动舞台 移动机器人 滚动时域估计 位姿估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]