基于单片机的差速驱动机器人运动建模与定位算法  

Motion Modeling and Localization Algorithm of Differential Drive Robot Based on Microcontrollers

作　　者：曹冬梅 王灿田 CAO Dongmei;WANG Cantian(Jiangsu Agri-animal Husbandry Vocational College,Taizhou Jiangsu 225300,China;Nanjing Branch of Jiangsu Union Technical Institute,Nanjing Jiangsu 210000,China)

机构地区：[1]江苏农牧科技职业学院,江苏泰州225300 [2]江苏联合职业技术学院南京分院,江苏南京210000

出　　处：《信息与电脑》2023年第10期67-69,共3页Information & Computer

基　　金：江苏农牧科技职业学院立项课题(项目编号:JYYB202319);江苏联合职业技术学院立项课题(项目编号:B/2020/10/008);伊犁州职业教育课题(项目编号:YLZJ202251)。

摘　　要：近年来,随着机器人智能化进程的不断推进,越来越多的智能路径规划机器人被运用于电力巡检、扫地机器人、自动售卖车等领域。运动建模以及绝对坐标定位是路径规划的基础,也是决定路径规划效果的重要因素之一。但是,由于里程计存在累计误差,因此如何降低累计误差成为提高机器人控制效果的关键。基于此,文章提出一个可准确计算小车位置的定位算法。In recent years,with the continuous advancement of robot intelligence,more and more intelligent path planning robots have been applied in fields such as power inspection,sweeping robots,and automatic sales vehicles.Motion modeling and absolute coordinate positioning are the foundation of path planning and one of the important factors determining the effectiveness of path planning.However,due to the accumulated error of the odometer,how to reduce the accumulated error has become the key to improving the control effect of the robot.Based on this,the article proposes a positioning algorithm that can accurately calculate the position of the car.

关 键 词：嵌入式 运动建模 单片机 运动状态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]