摘要
文章针对当前差动驱动轮式服务机器人的航迹推算定位精度不足问题,提出一种新的推算方法。该方法通过测量同轴上的2个驱动轮的角速度,利用差动驱动系统的运动规律推算出2个驱动轮的下一个采样时刻的位置。在机器人起始位置已知情况下,该算法可以跟踪和定位机器人一段距离,能有效地辅助和矫正定位有盲区或定位精度不稳定的其它室内定位方法。仿真实验结果表明,该方法定位的误差比当前基于微分方程模型推算定位的误差小。
Because of the drawbacks of differential drive mobile robots in positioning and estimating the track such as the low precision,this paper presents a new dead reckoning method.By measuring the angular velocity of two coaxial driving wheels and using the moving mechanism of differential drive system,the location of next sampling for the two wheels can be evaluated by this method.Under the condition that the robot＇s initial location is known,this algorithm can track and locate differential drive mobile robots for a certain distance,and effectively assists or corrects other indoor positioning methods by which positioning results are unstable.Simulation results show that compared with current dead reckoning methods based on differential equations,the positioning error of this method is less.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2010年第11期1605-1608,1622,共5页
Journal of Hefei University of Technology：Natural Science
基金
广东省教育部产学研结合资助项目(2009B090300302)
国家大学生创新实验计划资助项目(091035902)
关键词
差动驱动
航迹推算
服务机器人
辅助定位
differential drive
dead reckoning
mobile service robot
assistant positioning
