移动机器人车轮打滑检测与校核方法

摘要

Aiming at non-system error caused by wheel slipping of mobile robot,propose double wheel detection structure model.Based on number of output pulses of encoder of driving wheel and testing wheel,the wheel slipping model for straight line and different steering mode is established and the slipping identification algorithm are given.The operation direction error and displacement error are corrected by the forward correction algorithm or the reverse correction algorithm.The simulation results show that the structure model can be used to accumulate the slipping errors caused by long time operation of the robot,and real-time correction.There is little displacement error in the reverse correction algorithm.The correction precision is superior to the forward correction algorithm,but the forward correction algorithm is simple,and the energy consumption is low.%针对移动机器人车轮打滑引起的非系统误差,提出了双轮检测结构模型.利用检测轮与驱动轮编码器输出脉冲数,建立直行和不同转向方式的车轮打滑模型并给出打滑辨识算法.利用正向校正算法或反向校正算法校正运行方向误差与位移误差.仿真结果表明:该结构模型能够累计机器人长时间运行产生的打滑误差,并实时校正,反向校正算法存在极少的位移误差,校正精度优于正向校正算法,但正向校正算法逻辑简单,能量消耗少.