移动机器人行进偏移角度误差补偿研究  

Research on Compensation of Deviation Angle Error in Mobile Robot Travel

作　　者：陈逸飞 郭文阁[2] 李安民 李捷 王璐明 

机构地区：[1]西安石油大学 [2]中国科学院国家授时中心 [3]深圳澳谷智能科技有限公司

出　　处：《信息技术与标准化》2024年第12期27-32,45,共7页Information Technology & Standardization

摘　　要：针对移动机器人在行进中出现行进角度偏移误差导致行进轨迹精度偏移这一问题,提出一种基于机器人操作系统的移动机器人行进偏移角度误差补偿方法。该方法通过卡尔曼滤波修正IMU传感器陀螺仪角速度信息后输出四元数信息,再利用四元数转换成偏航角并结合卡尔曼滤波算法对移动机器人姿态信息进行实时修正。在补偿算法的基础上进行实验,数据表明该方法能够显著提高移动机器人的行进轨迹精度,满足移动机器人行进偏移角度误差的精度补偿。To solve the problem of trajectory accuracy deviation caused by lateral deviation angle error in mobile robot's movement during operation,a lateral deviation angle error compensation method based on robot operating system for mobile robots is proposed.This method corrects the IMU sensor gyroscope angular velocity information through Kalman Filtering and outputs quaternion information,which is then converted into yaw angle and combined with Kalman Filtering algorithm to perform real-time correction of the mobile robot attitude information.Experiments were conducted based on the compensation algorithm,and the data showed that this method can significantly improve the accuracy of the mobile robot's travel trajectory,meeting the accuracy compensation of the mobile robot's travel offset angle error.

关 键 词：ROS 四元数 偏航角 卡尔曼滤波 惯性测量元件(IMU) 误差补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]