摘要
针对移动机械臂激光导航中各激光相对位置的不准确性,提出了一种基于最小二乘的标定算法。该标定方法针对3个自由度的标定,1个旋转自由度和2个平移自由度。整个标定过程分为三个步骤,第一步让两个激光传感器同时扫描同一个墙角并提取出墙角的扫描数据集;第二步是建立参数成本方程,根据直线方向向量平行的关系建立旋转参数的成本方程,然后再由角点的重合性建立平移参数的成本方程;第三步是利用最小二乘法求解参数的成本方程。整个标定算法中还考虑了激光传感器自身的系统误差和统计误差,最后通过实验验证,表明标定结果的正确性。
In this paper,a calibration of Laser navigation for mobile manipulator based on Least Square Method is proposed.It focuses on 3 DOF(degrees of freedom) calibration,i.e. one rotational and two translational DOF.The entire calibration process can be summed up into three steps.The first step is to allow the dual finders to scan the same corner and then extract the parameters of the corner.The second step is to establish a cost function which is established according to the direction vector of the line and the repeatability of the corners.With this function,the Least Square Method is used to obtain the final calibration result in the third step.
出处
《工业控制计算机》
2019年第6期47-49,共3页
Industrial Control Computer
关键词
标定
移动机械臂
激光
最小二乘
calibration
mobile manipulator
laser
least square method
