摘要
为提高自主定位机器人的定位精度,设计一种基于三轮全向从动的航迹推算定位机器人机构。机器人的主动轮系统由4个麦克纳姆轮组成,从动轮系统由3个全向轮组成。通过离散化航迹推算定位公式计算并更新机器人的位姿信息。最后通过实验测量多种运动方式、不同采样周期下的定位误差。结果表明:该方法可基本满足机器人室内定位要求,为航迹推算定位提供理论依据和实验参考。
To improve the positioning accuracy of autonomous positioning robot, a dead reckoning positioning robot structure based on 3 omnidirectional driven wheels was designed. Robot＇s driving wheel system was composed of 4 Mecanum wheels and driven wheel system was composed of 3 omnidirectional wheels. Robot＇s pose information was calculated and updated according to discretized dead reckoning positioning formula. Finally, positioning error was obtained by experiments of various motion modes and different sampling periods. The experiment results show the method meets the requirements of robot indoor positioning. Theoretical basis and experimental reference of dead reckoning positioning were provided.
出处
《兵工自动化》
2017年第5期62-65,共4页
Ordnance Industry Automation
基金
国家自然科学基金(51605225)
中央高校基本科研业务费专项资金(30915118830)
关键词
移动机器人
航迹推算定位
结构设计
误差
精度
mobile robot
dead reckoning positioning
structure design
error
precision
