基于IMU的机器人滑移轨迹优化研究

Research on optimization of robot sliding trajectory based on IMU

差速移动机器人在转向过程中容易受到不稳定地面影响而出现滑移现象。为了减少滑移影响,提高机器人的转向控制精度,提出一种机器人瞬心闭环控制方法。首先根据移动机器人转向特性建立其滑移模型,由此推导出差速转向瞬心和滑移率计算公式;对机器人搭载的惯性测量单元(IMU)建立瞬心测量模型,并依据转盘实验结果验证模型的有效性;结合两种模型,实现对机器人差速运动指令的瞬心闭环控制,并以Turtlebot为测试平台进行轨迹优化实验。实验结果表明:使用瞬心闭环控制的机器人轨迹误差更小,控制更精确。

Differential mobile robot is susceptible to slippage due to unstable ground during the steering process.In order to reduce the influence of slip and improve the steering control precision of the robot,a closed-loop control method of the robot is proposed.Slip model is established according to the steering characteristics of the mobile robot,and the formula for calculating the instantaneous steering and slip rate of the differential steering is derived.Instantaneous measurement model is built on the inertial measurement unit(IMU)of the robot,and the experimental results are based on the turntable.Verify the validity of the model.Combine the two models to realize the instantaneous closed-loop control of the robot differential motion command,and use the Turtlebot as the test platform for the trajectory optimization experiment.The experimental results show that the robot trajectory error using the closed-loop control is smaller and the control is more accurate.