轮式移动机器人组合导航方法及试验研究

Research on the Method and Experiment of the Integrated Navigation for Wheeled Mobile Robot

该文提出了以惯性导航为基础,磁感应器修正的移动机器人组合导航方法。该方法以陀螺仪、磁感应器和里程计作为导航信息的检测器件,每隔一定的距离,利用磁感应器检测到的信息对陀螺仪和里程计进行修正,使得移动机器人能够精确定位、长时间稳定运行。一方面,消除了纯惯性导航随时间增长累积的误差;另一方面,对外界环境有较强的抗干扰能力。试验结果验证了该组合导航方法是有效、可行的,适于在线实时应用,能融合其它导航传感器信息,具有较强可扩展性。

This paper presents an integrated navigation method of wheeled mobile robot which is driven by front wheel. The inertial navigation, gyroscope, magnet sensor and milemeter are used to measure navigation information. Gyroscope and milemeter are amended by magnet sensor information every other definite distance. It makes mobile robot run accurately and stably for a long time. Accumulated error of the single inertial navigation with time is eliminated. Moreover, the ability of anti - jamming to outside environment is strong. Experiment results prove the method is feasible and effective. It can be used on line and combined with other navigation sensors information with strong expandability.