移动机器人测程法定位误差分析与校正
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上海大学机电工程与自动化学院 上海 200072

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TP242

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Analysis and correction error of positioning based on odometry in mobile bobot
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School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China

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    摘要:

    里程计的安装误差和凹凸不平或者光滑地面的环境是影响机器人测程法定位精度的主要原因,针对这一问题,首先利用UMBmark校核算法定义了系统误差模型;然后基于陀螺仪的测量数据,提出了机器人直线移动时发生非系统误差的辨识算法,利用所给定的控制信号(输入)与里程计数据(输出)建立模糊神经网络模型,校正机器人自定位因为非系统误差而导致的严重位置误差和方向误差。最后采用上海大学自强队机器人平台验证所提出方法的有效性。

    Abstract:

    The installation error of odometer, accidented and smooth ground environment are the main reason which influence the positioning accuracy of odometry of robot. In order to solve this problem, the system error model was defined by UMBmark check algorithm first; Then an identification algorithm based on the measured data from gyroscope which inside in the robot was put forward, which can identify the nonsystematic error that caused by the robots when they move in a straight line. The fuzzy neural network(FNN) model was established by the input of given control and data of odometer, which can correct the serious positioning and direction error that resulted from nonsystematic error. The effective of this approach was proved by the strive robot of Shanghai University finally.

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刘振,陈万米,熊奇.移动机器人测程法定位误差分析与校正[J].电子测量技术,2017,40(12):75-81

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  • 在线发布日期: 2018-01-30
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