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[1]王晓宇,闫继宏,徐莉红.基于自控测距法的机器人位姿估计[J].智能系统学报,2009,4(2):169-174.
　WANG Xiao-yu,YAN Ji-hong,XU Li-hong.Improving estimations of a robot’s position and attitudewith accelerometer enhanced odometry[J].CAAI Transactions on Intelligent Systems,2009,4(2):169-174.

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基于自控测距法的机器人位姿估计

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 4 期数: 2009年第2期页码: 169-174 栏目: 学术论文—智能系统出版日期: 2009-04-25

Title:: Improving estimations of a robot’s position and attitudewith accelerometer enhanced odometry

文章编号:: 1673-4785(2009)02-0169-06

作者:: 王晓宇¹，闫继宏²，徐莉红³; 1.航天东方红卫星有限公司，北京100094；
2.哈尔滨工业大学机器人研究所，黑龙江哈尔滨150080；
3.304厂科研2所，山西长治 046012

Author(s):: WANG Xiao-yu¹，YAN Ji-hong²，XU Li-hong³; 1. DFH Satellite Company Ltd., Beijing 100094, China;
2. Robotics Institute, Harbin Institute of Technology, Harbin 150080, China;
3. Number 2 Scientific Research Institute, Number 304 Factory, Changzhi 046012, China

关键词:: 位姿估计; 自控测距法; Gyrodometry法

Keywords:: position and attitude estimation; accodometry method; Gyrodometry method

分类号:: TP242

文献标志码:: A

摘要:: 针对两轮自平衡机器人运行过程中遇到打滑、越障、碰撞等异常事件，测程法进行位姿估计失效的情况，提出一种自控测距法.结合改进的Gyrodometry方法，通过融合码盘、陀螺仪与加速度计数据对机器人的位姿进行估计，实现了机器人的准确定位，解决了非系统定位误差对机器人位姿估计的影响，降低了陀螺仪、加速度计固有漂移的不利影响，提高了两轮自平衡机器人的定位精度.实验结果显示与测程法误差相比自控测距法位置误差降为1/3，方向误差降为1/6，验证了自控测距法的有效性

Abstract:: Unpredictable events can occur in the navigational processes of twowheeled selfbalancing robots, such as wheelslippage, interaction with obstacles, and bumps. These invalidate position and attitude estimates. Therefore, an improved method was developed for accurate positioning of robots. The accodometry method adds accelerometer data to the improved Gyrodometry method, fusing encoder data with inertial sensor data. This method eliminates the effect of nonsystematic errors on robot position and attitude estimation and reduces illeffects due to inherent drift of the gyro and accelerometer. As a result, positional accuracy is greatly improved. Experimental results showed that positional errors decrease by onethird and orientation errors decline by onesixth, verifying the effectiveness of the accodometry method.

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备注/Memo

收稿日期：2008-05-14.
基金项目：“863”国家高技术研究发展计划资助项目(2006AA04Z245).
作者简介：
王晓宇，男，1977年生，工程师，博士，主要研究方向为移动机器人导航与控制、多传感器信息融合与数据处理，发表学术论文13篇.
闫继宏，女，1974年生，副研究员，博士，主要研究方向为遥操作机器人系统，发表学术论文20篇.
徐莉红，女，1973年生，工程师，主要研究方向为引信设计. 
通信作者：王晓宇.E-mail:wxyhit197745@yahoo.com.cn.

更新日期/Last Update: 2009-05-04

基于自控测距法的机器人位姿估计 PDF下载HTML

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基于自控测距法的机器人位姿估计

PDF下载 HTML