CAJ | 학술논문

为提高系统的定位精度和减小系统误差，针对低运动控制模型精度移动机器人，基于3个主要的系统误差来源———“左右轮子直径的不相等”、“轮距的不确定”和“左右轮子直径实际的平均值与标称平均值不相等”所产生的位置误差和方向误差，提出了校正里程计系统误差的方法，并设计校正实验来校正系统参数———左右轮子的直径和轮距。该校正方法分别考虑了系统误差对机器人直线运动和旋转运动的影响，通过直线运动和旋转运动的实验数据校正系统参数。实验结果表明，校正后的系统参数更接近其实际值，系统误差更小，系统定位精度更高，并且实验简单，容易操作。
위제고계통적정위정도화감소계통오차，침대저운동공제모형정도이동궤기인，기우3개주요적계통오차래원———“좌우륜자직경적불상등”、“륜거적불학정”화“좌우륜자직경실제적평균치여표칭평균치불상등”소산생적위치오차화방향오차，제출료교정리정계계통오차적방법，병설계교정실험래교정계통삼수———좌우륜자적직경화륜거。해교정방법분별고필료계통오차대궤기인직선운동화선전운동적영향，통과직선운동화선전운동적실험수거교정계통삼수。실험결과표명，교정후적계통삼수경접근기실제치，계통오차경소，계통정위정도경고，병차실험간단，용역조작。
In order to improve the localization accuracy and to reduce the systematic errors,a calibration method of systematic odometry errors is proposed for the mobile robot with a low accuracy of motion control model,and an experiment is designed to correct the system parameters,namely,the left and right wheel diameters and the wheel-base.This calibration method takes into account the position and orientation errors caused by three main systematic error sources,namely,the inequality between left and right wheel diameters,the uncertainty of wheelbases and the difference between the average actual wheel diameter and the nominal wheel diameter.This calibration method also considers the influences of the systematic errors on the linear motion and the rotation motion of the mobile robot, and uses the experimental data of linear motion and rotation motion to correct the systematic parameters.Experi-mental results demonstrate that the corrected diameters are closer to their actual values with smaller systematic errors and higher localization accuracy,and the experiment is simple and easy to handle.