多传感器数据融合在轮式机器人朝向角控制中的应用

摘要

针对轮式全向移动机器人运动时容易产生朝向角偏差这一问题,分析了轮式全向移动机器人的运动模型,对当前普遍采用的仅依靠编码器反馈的朝向角控制方法进行改进,将MEMS陀螺仪和数字罗盘应用到机器人系统中,提出了基于多传感器数据融合的朝向角控制方法,提高了朝向角的控制精度.通过实验数据和在机器人足球比赛中的实际表现,证明了该方法的优势.%The orientation angle error is inevitable when wheeled omnidirectional mobile robots move. In view of this situation,the motion model of the wheeled omnidirectional mobile robot is analyzed,and a new method based on multi-sensor data fusion technology with the MEMS gyroscope and digital compass is introduced. The traditional orientation angle control method which only relying on encoders and the control precision is improved. The advantages of the new method have been proved by experimental data in labs and the performance in soccer-like games.