一種有效的移動(dòng)機(jī)器人里程計(jì)誤差建模方法

1、 2期 楊晶東等: 一種有效的移動(dòng)機(jī)器人里程計(jì)誤差建模方法 173 度, 實(shí)驗(yàn)表明這種誤差實(shí)時(shí)補(bǔ)償能夠滿足移動(dòng)機(jī)器 人的實(shí)時(shí)導(dǎo)航過(guò)程. 5 Kleeman L. Advanced sonar and odometry error modeling for simultaneous localisation and map building. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, USA: IEEE, 2003. 699704 6

2、 Martinelli A. The odometry error of a mobile robot with a synchronous drive system. IEEE Transactions on Robotics and Automation, 2002, 18(3: 399405 7 Martinelli A. Modeling and estimating the odometry error of a mobile robot. In: Proceedings of the 5th IFAC Symposium on Nonlinear Control Systems.

3、St. Petersburg, Russia: IFAC, 2001. 420425 8 Tur J M M, Gordillo J L, Borja C A. A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle. IEEE Transactions on Robotics, 2005, 21(5: 10171022 9 Julier S J, Uhlmann J K, Durrant-Whyte H F. A new method for the

4、 nonlinear transformation of means and covariances in lters and estimators. IEEE Transactions on Automatic Control, 2000, 45(3: 477482 Fig. 4 圖 4 里程計(jì)誤差補(bǔ)償前后定位時(shí)間變化 The changes of localization times before and after odometric errors compensation 10 Julier S J. The stability of covariance ination method

5、s for SLAM. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, USA: IEEE, 2003. 27492754 11 Li Y, Wang J L, Rizos C, Mumford P, Ding W D. Lowcost tightly coupled GPS/INS integration based on a nonlinear Kalman ltering design. In: Proceedings of ION Nat

6、ional Technical Meeting. Monterey, California, USA: 2006. 958966 6 結(jié)論 本文針對(duì)同步驅(qū)動(dòng)和差動(dòng)驅(qū)動(dòng)輪式移動(dòng)機(jī)器人 平臺(tái)提出了一種通用的里程計(jì)誤差建模方法, 并根 據(jù)里程計(jì)誤差與過(guò)程輸入之間的函數(shù)關(guān)系, 在導(dǎo)航 定位過(guò)程中對(duì)里程計(jì)誤差進(jìn)行實(shí)時(shí)補(bǔ)償, 提高定位 精度. 今后的研究工作重點(diǎn)放在繼續(xù)完善這種建模 方法, 并建立起移動(dòng)機(jī)器人物理約束系統(tǒng)和反饋補(bǔ) 償系統(tǒng), 使其具有更普遍的推廣意義. References 1 Ioncl B, Ioan L, Franti E, Dascalu M, Moldovan C, Goschin

7、 S. Systematic odometry errors compensation for mobile robot positioning. In: Proceedings of the 7th International Conference on the Experience of Designing and Application of CAD Systems in Microelectronics. Washington D. C., USA: IEEE, 2003. 574576 2 Chung H, Ojeda L, Borenstein J. Accurate mobile

8、 robot dead-reckoning with a precision-calibrated ber optic gyroscope. IEEE Transactions on Robotics and Automation, 2001, 17(1: 8084 3 Borenstein J, Feng L Q. Measurement and correction of systematic odometry errors in mobile robot. IEEE Transactions on Robotics and Automation, 1996, 12(6: 869880 4

9、 Chong K S, Kleeman L. Feature-based mapping in real, large scale environments using an ultrasonic array. The International Journal of Robotics Research, 1999, 18(1: 319 楊晶東 哈爾濱工業(yè)大學(xué)計(jì)算機(jī)科學(xué)與 技術(shù)學(xué)院博士研究生. 主要研究方向?yàn)?移動(dòng)機(jī)器人導(dǎo)航和兩足機(jī)器人. 本文通 信作者. E-mail: eerfriend (YANG Jing-Dong Ph. D. candidate at Harbin Institut

10、e of Technology. His research interest covers mobile robots navigation and biped robots. Corresponding author of this paper. 楊敬輝 上海第二工業(yè)大學(xué)教授. 主要研究方向?yàn)閿?shù)據(jù)挖掘 和管理信息系統(tǒng). E-mail: yangjinghui99 (YANG Jing-Hui Professor at Shanghai Second Polytechnic University. Her research interest covers data mining and management information system. 洪炳镕 哈爾濱工業(yè)大學(xué)教授. 主要研究方