主动万向脚轮式全向移动机器人的关节空间多传感器信息融合算法
PDF下载 (464)高旭峰,陈庆盈,邓益民,郑天江,杨 宇.主动万向脚轮式全向移动机器人的关节空间多传感器信息融合算法[J].宁波大学学报(理工版),2019,32(4):43-49.DOI:
GAO Xufeng,CHEN Qingying,DENG Yimin,ZHENG Tianjiang,YANG Yu.Multi-sensor fusion method in joint space for powered caster wheels based omni-directional mobile robot[J].Journal of Ningbo University(Natural Science & Engineering Edition),2019,32(4):43-49.DOI:
| Title: | Multi-sensor fusion method in joint space for powered caster wheels based omni-directional mobile robot |
| 作者: | 高旭峰, 陈庆盈, 邓益民, 郑天江, 杨 宇 |
| Author(s): | GAO Xufeng, CHEN Qingying, DENG Yimin, ZHENG Tianjiang, YANG Yu |
| 关键词: | 主动万向脚轮; 关节空间; 信息融合; 里程计; 运动控制 |
| Keywords: | powered caster; joint space; information fusion; odometry; motion control |
| 分类号: | TP221.1 |
| 文献标识码: | A |
| 摘要: | 鉴于主动万向脚轮式全向移动机器人运动学矩阵与其脚轮转向关节的位置有关, 因此脚轮的运动误差会同时降低机器人的里程计和速度控制精度. 因传统的工作空间信息融合算法无法有效提高脚轮运动精度, 本文提出一种基于卡尔曼滤波的关节空间多传感器信息融合算法. 新算法首先预测机器人的工作空间状态, 然后通过逆向运动学将其解算到关节空间, 随之在关节空间内进行数据融合, 以提高脚轮运动精度, 最后利用脚轮运动的最优估计来更新各关节角度和机器人里程计信息. 仿真实验验证了该算法可有效减少脚轮运动的误差, 使机器人的运动学矩阵更接近其真实状态, 从而提升了机器人的里程计和速度控制精度. |
| Abstract: | The kinematics parameters of the omni-directional mobile robot based on powered caster is related to the position of the caster steering joint. Thus, the error of the caster motion will reduce the accuracy of the odometry and the velocity control of robot simultaneously. Since the traditional data fusion algorithm cannot improve the accuracy of caster motion, a joint space multi-sensor information fusion algorithm based on Kalman filter is proposed. Firstly, the algorithm predicts the state of the robot in work space, then solves the joint space by inverse kinematics, and performs data fusion in joint space to improve the accuracy of the caster motion. Finally, the joint angle and the odometry are updated by the optimal estimation of the caster motion. The simulation results prove that the present method can reduce the error of the caster motion and make the kinematics parameters of the robot closer to its real state, thus improve the accuracy of the odometry and the velocity control of robot. |
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| 备注/Memo: | 收稿日期: 2018－08－07. 宁波大学学报（理工版）网址: http://journallg.nbu.edu.cn/基金项目: 浙江省重点研发计划项目（2018C01086）; 宁波市国际合作项目（2017D10023）; 装备预研项目领域基金（61409230101）.第一作者: 高旭峰（1993－）, 男, 山东烟台人, 在读硕士研究生, 主要研究方向: 移动机器人控制与误差标定. E-mail: gaoxufeng@nimte.ac.cn*通信作者: 陈庆盈（1976－）, 男, 台湾桃园人, 研究员, 主要研究方向: 机电一体化、机器人设计. E-mail: chenchinyin@nimte.ac.cn 宁波大学学报（理工版）网址：http://journallg.nbu.edu.cn/ |
