面向轮式机器人导航的电机编码器信号解析

Motor Encoder Signal Parsing for Wheel-Based Robot Navigation

为满足低成本轮式移动机器人平台的导航需求,提出仅依靠增量式编码器信号解析相对运动的算法框架。基于双重条件校验,使用微控制器的外部中断辨识并记录编码器有效脉冲,监测编码器的双路信号逻辑判定轮子转向;通过对四驱刚体质点的适当等效,推导具有普适性的短时运动模型,并通过运动合成扩展到长时动作上。实地实验验证了算法的性能。本算法为移动机器人的位姿估算提供了新思路。

To meet the navigation requirement of low-cost wheel-based mobile robot platform,an algorithm framework that parses robot relative motion only relying on the signals emitted from the incremental encoders,is proposed.By validating the two conditions,the encoder pulses are identified and counted with MCU＇ s external interruptions,and the wheel rotate direction is determined via the logic status evaluation of the encoder＇ s two channel signals.And by selecting the equivalent particle of the four-wheel-drive rigid body properly,the general short-term motion model is derived out,and extended to long-term motions through motion synthesis.The performance of the proposed algorithm is finally demonstrated by field test.The algorithm can be treated as a novel solution to the pose estimation for mobile robot.