4 2 Vol. 4. 2 2009 4 CAA I Transactions on Intelligent System s Ap r. 2009 1, 2, 3 (1., 100094 2., 150080 3. 304 2, 046012) :,,. Gyrodometry,,,,,. 1 /3, 1 /6,. : Gyrodometry : TP242 : A : 167324785 (2009) 0220169206 Improving estimations of a robot s position and attitude w ith accelerom eter enhanced odometry WANG Xiao2yu 1, YAN J i2hong 2, XU L i2hong 3 ( 1. DFH Satellite Company L td., Beijing 100094, China 2. Robotics Institute, Harbin Institute of Technology, Harbin 150080, China 3. Number 2 Scientific Research Institute, Number 304 Factory, Changzhi 046012, China) Abstract:Unp redictable events can occur in the navigational p rocesses of two2wheeled self2balancing robots, such as wheel2slippage, interaction w ith obstacles, and bump s. These invalidate position and attitude estim ates. There2 fore, an imp roved method was developed for accurate positioning of robots. ometer data to the imp roved Gyrodometry method, fusing encoder data with inertial sensor data. The accodometry m ethod adds acceler2 This method elim i2 nates the effect of non2systematic errors on robot position and attitude estimation and reduces ill2effects due to inher2 ent drift of the gyro and accelerometer. A s a result, positional accuracy is greatly imp roved. Experimental results showed that positional errors decrease by one2third and orientation errors decline by one2sixth, verifying the effec2 tiveness of the accodometry method. Keywords: position and attitude estimation accodom etry m ethod Gyrodometry method,. 2 :, [ 123 ].,,, : 2008205214. : 863 (2006AA04Z245). :. E2mail: wxyhit197745@ yahoo. com. cn..,.,.,,, [ 427 ]. Borenstein [ 8 ] UMBmark (University ofm ichigan benchmark test),
170 4,. [ 2 ] UMBmark,., Borenstein [ 9 ] Gy2 rodometry,,,., [ 10 ]., ( ),.,, ( accelerometer2 odometry), Gyrodometry,. 1,,.. 2 : 1) :. 2) :.,.,.,. 2,,,. 1. 1 Fig. 1 Schematic diagram of sensors 3,,. 3. 1, D ( D )., 2, D,,.,, 2. L 1, L 2, L 3, L 4, F. 2 Fig. 2 Schematic diagram of odometry error,,
2, : 171,. : x., z : ( t) = arctan L ped 1 ( t) - L ped2 ( t) D ped ( t) = arctan L us 1 ( t) - L us2 ( t) D us co s ( t) x ( t) = [L us ( t) + D us1 ]cos ( t) cos ( t) - D us2 sin ( t) co s ( t) z ( t) = [L us ( t) + D us1 ]co s ( t) sin ( t) - D us2 sin ( t) sin ( t). : L ped1 L ped2 1 2, D ped 2, L us1 L us2 1 2, D us 2, L us ( t) = arctan L ped 1 ( t) - L ped2 ( t) D ped ( t) = arctan L us 1 ( t) - L us2 ( t) D us cos ( t) (1), D us1 D us2. 2 ( 1), : x ( t) = V ( t) t - [L us ( t) + D us1 ]co s ( t) cos ( t) - D us2 sin ( t) cos ( t) z ( t) = [L us ( t) + D us1 ]cos ( t) sin ( t) - D us2 sin ( t) sin ( t) - (L us0 + D us1 ). :,, x X, z Z, V, L us0., Z,, X Z, X.,,.,,,,,,., D,, D. 0. 1 m / s, 3 m, 10 m s, 0. 5 m (2). 3,,,,,.,. 3 Fig. 3 The position curves of the single obstacle negotiation,,,
172 4,.,,. 4. 4 Fig. 4 The position error change curves of the single obsta2 cle negotiation,. 4 Gyrodometry,. UMBmark, Gyrodometry,. 4. 1.. H ITBot 0. 24 m, 2. 0 kg, 0. 2 m, 0. 07 m, 5. 3. 2,.,.,.,.., 3. 4, D odo, D acc, D ao = D odo - D acc. D ao D thres, D ao > D thres, (3), D acc. : D ao < D thres, (4), D odo.,, 5 H ITBot Fig. 5 Two2wheeled self2balanced robot2h ITBot 4. 2,,, 1, 6. 1 Table 1 Num ber and d im en sion of obstacles 1 2 3 4 5 6 /mm 2 2 4 4 6 6,. 0. 5 m 2, 0. 05 m., Gyrodometry 0. 1 m
2, : 173,., : odop = D odo - D real, (5) acc = D acc - D real, (6) ao = D ao - D real. (7) :D odo D acc D ao, D real, odop acc ao. 1 /3, 1 /6. 7 Fig. 7 The position curve of obstacle negotiation after cor2 rection 6 Fig. 6 Schematic diagram of straight line obstacle negotiation 8 Fig. 8 The position error of obstacle negotiation after cor2 rection 4. 3 D thres 0. 4 mm thres 0. 05, 7, 8, Gy2 rodometry 9. Gyrodometry,. Gyrodometry 0. 4, 2. 2,,,. 4,, 4 mm. Gyrodometry, 9 Fig. 9 The orientation error of obstacle negotiation after correction 5,,.
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