A Differential Mobile Robot Odometer Calibration Method

A mobile robot and calibration method technology, applied in the field of differential mobile robot odometer calibration, can solve the problems of low efficiency, large measurement error, poor accuracy, etc., and achieve the effects of avoiding low efficiency, enriching calibration methods, and reducing workload.

Active Publication Date: 2019-05-21
CHENGDU TOPPLUSVISION TECH CO LTD
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  • Abstract
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Problems solved by technology

[0006] The invention provides a method for calibrating the odometer of a differential mobile robot, which solves the technical problems of low efficiency, poor precision and large measurement error in the existing differential mobile robot calibration method, and realizes the calibration efficiency and accuracy of the differential mobile robot high technical effect

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  • A Differential Mobile Robot Odometer Calibration Method
  • A Differential Mobile Robot Odometer Calibration Method
  • A Differential Mobile Robot Odometer Calibration Method

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Embodiment Construction

[0049] The invention provides a method for calibrating the odometer of a differential mobile robot, which solves the technical problems of low efficiency, poor precision and large measurement error in the existing differential mobile robot calibration method, and realizes the calibration efficiency and accuracy of the differential mobile robot High technical effect.

[0050] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the condition of not conflicting with each other, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0051] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be...

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Abstract

The invention discloses a method for calibrating the odometer of a differential mobile robot. The method includes: step 1: the robot walks in a preset area, and uses a motion capture system to position the vehicle; step 2: transmits the walking displacement of the robot to The processor reads the walking displacement calculated by the robot odometer at the same time; step 3: calculates the compensation parameters based on the walking displacement of the robot obtained by the motion capture system and the walking displacement calculated by the odometer, and compensates the motion capture system; step 4 : Repeat step 1-step 3, and iteratively correct the compensation parameters until the robot's walking route is consistent with the setting, realizing the technical effect of high calibration efficiency and precision of the differential mobile robot.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a method for calibrating the odometer of a differential mobile robot. Background technique [0002] The differential mobile robot is a vehicle body with differential drive. This vehicle body has many advantages such as zero turning radius, small size, stable motion, low price, and large load. It has very good application and research value. Since the differential mobile robot uses the odometer to calculate the displacement and velocity, it is necessary to calibrate the robot odometer to correct the system error within the allowable error range. [0003] In order to reduce the impact of system errors on the linear motion and rotational motion of the robot, the current general calibration method is to design a straight line and use a ruler to measure the actual displacement, to design an in-situ rotation method to use an angle ruler to measure the actual angle change, and to des...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 罗元泰周剑吕传龙陈美文
Owner CHENGDU TOPPLUSVISION TECH CO LTD
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