Accurate Dead Reckoning for Omni-Directional Autonomous Mobile Robot

全向自主移动机器人的精确航位推算

• 批准号: 09650301
• 负责人: MATSUDA Fumio
• 金额: $ 1.98万
• 依托单位: Gifu National College of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650301/
• 关键词: Robot; Autonomous Mobile Robot; Omni-Directional Movement; Holonomic; Dead Reckoning; Internal Sensor; Laser; Velocity Sensor; レーザ計測

To recognize the current position and posture of a mobile robot is called reckoning, which is one of the most important function for autonomous movement of robot. Reckoning is processed by means of an outer sign or internal sensor. The latter is called dead reckoning. The most usual method for dead reckoning of mobile robot is to use encoders which are attached to wheels or motor shafts.The main cause of the error in the positioning is slippage of the wheels. This error keeps accumulate while moving. Therefore, it cannot be neglected when the robot moves in extensive area. It is necessary to develop the velocity sensor which is not related to rotation of wheels to reduce this error.In many cases, internal and external sensors are used simultaneously for accurate reckoning. However, the most important thing is to progress the accuracy of each sensor. In this investigation, an accurate internal position sensor was developed.2-dimensional velocity of the robot was measured using the compact velocity sensor onboard the robot, and 2-dimensional displacement was calculated from the measured velocity data.By using this method, the accuracy of the dead reckoning is improved and the number of outer sign can be decreased. Furthermore, accurate self-positioning can be achieved even in the area where external sensor is useless by obstacles.

对移动机器人当前位置和姿态的识别称为估算，是机器人自主运动的重要功能之一。计算是通过外部符号或内部传感器进行的。后者被称为航位推算。移动机器人最常用的航位推算方法是将编码器安装在车轮或电机轴上。定位误差的主要原因是车轮打滑。这个误差在移动时不断累积。因此，当机器人在大范围内运动时，它是不可忽视的。为了减小这种误差，有必要研制与车轮转动无关的速度传感器。在许多情况下，内部和外部传感器同时使用，以获得准确的推算。然而，最重要的是提高每个传感器的精度。在这项研究中，开发了一种精确的内部位置传感器。利用机器人自带的紧凑型速度传感器测量机器人的二维速度，并根据速度数据计算机器人的二维位移。该方法不仅提高了航位推算的精度，而且减少了外符号的数量。此外，即使在外部传感器被障碍物无用的区域，也可以实现准确的自定位。