摘要
为了提高采用码盘定位方式的移动机器人定位精度,通过ADAMS仿真机器人转弯时码盘因打滑产生位移误差的情况,量化机器人在特定转弯半径,不同转弯速度对应的码盘定位误差值;然后,运用加权最小二乘支持向量回归机(WLSSVR)对数据进行回归计算,获得误差补偿决策函数;补偿机器人在转弯时因码盘打滑产生的定位误差,进而提高机器人定位精度。实验表明加入了码盘误差补偿的航迹推算定位算法的定位效果比没有误差补偿的定位准确度有显著提高。
To improve positioning accuracy of mobile robot based on encoder,through simulating the displacement error state caused by sliding in the turning process of robot by ADAMS,the turning radius of the robot is specially quantized,and the error in encoder positioning responding with different turning speed as well.Then data regressive calculation was carried out based on weighted least squares support vector regression（WLSSVR）in order to obtain the decision function for error compensation.Positioning error of encoder caused by sliding of the encoder during turning can be compensated,thus the positioning accuracy is improved.Experiment shows that the position accuracy of dead-reckoning positioning algorithm is improved obviously compared with that without error compensation.
出处
《机械设计与制造》
北大核心
2012年第1期150-152,共3页
Machinery Design & Manufacture
基金
西南科技大学研究生创新基金资助(11ycjj34)
四川省教育厅科研基金(07ZA175)
