移动机器人里程计系统误差标定

System error calibration of odometer based on wheeled robot

综合考虑3种主要系统误差对轮式移动机器人直行与旋转所带来的影响,对传统UMBmark方法做出改进,采用双正六边形回路终点的方向误差代替传统双正四边形回路位置误差,标定系统误差。通过激光跟踪仪测出点的信息绘制轨迹,对比分析得出,所提方法能有效提高移动机器人定位精度,与未标定前相比,精度提高3倍左右。

The traditional UMBmark method is improved.The influence of three main system errors on the straight and rotation of wheeled mobile robot is considered comprehensively,and the direction error of the end point of the double positive hexagon loop is used to calibrate the system error instead of the position error of the traditional double positive quadrangle loop.The point information measured by laser tracker is used to plot the trajectory,and the comparison analysis shows that the method proposed in this paper can effectively improve the positioning accuracy of mobile robot,which is about 3 times higher than that before calibration.