王卫华, 熊有伦, 孙容磊. 一种移动机器人轮子打滑的实验校核方法[J]. 机器人, 2005, 27(3): 197-202.
引用本文: 王卫华, 熊有伦, 孙容磊. 一种移动机器人轮子打滑的实验校核方法[J]. 机器人, 2005, 27(3): 197-202.
WANG Weihua, XIONG Youlun, SUN Ronglei. An Experimental Calibration Method for Wheel-slippage in Mobile Robots[J]. ROBOT, 2005, 27(3): 197-202.
Citation: WANG Weihua, XIONG Youlun, SUN Ronglei. An Experimental Calibration Method for Wheel-slippage in Mobile Robots[J]. ROBOT, 2005, 27(3): 197-202.

一种移动机器人轮子打滑的实验校核方法

An Experimental Calibration Method for Wheel-slippage in Mobile Robots

  • 摘要: 提出一种机器人不受磁场干扰情况下,利用编码器和电磁罗盘校核轮子打滑的方法.该方法定义机器人轮子打滑的模型,利用该模型能够判断轮子是否发生滑动.当机器人轮子打滑时,提出一种算法来判断哪个驱动轮打滑并校核轮对应的方向误差和位置误差.试验结果表明了本文算法的有效性.

     

    Abstract: This paper presents a method to calibrate mobile robot wheel-slippage by encoders and electronic compass when the mobile robots isn't distorted by magnetic interference. A model for wheel-slippage is defined, which can judge whether the driving wheels have slippages. Based on this model, an algorithm is proposed to determine which driving wheel has slippage and to calibrate the resulting orientation error and displacement error when wheel-slippage occurs. Experimental results show the validity of the method.

     

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