Stroke calibration method of mobile robot

Abstract

The invention provides a stroke calibration method of a mobile robot. The stroke calibration method comprises the steps that the actual stroke of a left wheel and the actual stroke of a right wheel are obtained; first displacement and the turning angle are obtained according to the actual stroke of the left wheel and the actual stroke of the right wheel; the actual diameter of the left wheel and the actual diameter of the right wheel are obtained, and a milemeter is calibrated according to the actual diameter of the left wheel and the actual diameter of the right wheel; second displacement is obtained through an inertia measuring unit; a displacement amount threshold value is obtained; the displacement distance and the displacement amount threshold value are compared; when the displacement distance is smaller than the displacement amount threshold value, an average value of the first displacement and the second displacement is fused; and when the displacement distance is greater than the displacement amount threshold value, fusion is conducted through smoothing. The error correction of the milemeter is achieved, and the system positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of robot motion, in particular to a stroke calibration method of a mobile robot. Background technique [0002] With the development of robotics, the research on indoor service robots has gradually become a hot spot. In the smart home indoor positioning perception system, the robot's own positioning ability is extremely important for path planning. It is the key to the robot's autonomous navigation and is of great significance for improving the automation level of the robot. [0003] The current mobile robot chassis is mostly composed of two or three driving wheels. The odometer positioning method is an important relative positioning method. It belongs to the dead reckoning method and is the main method for mobile robot navigation and positioning in an unknown environment. The positioning method can simplify the basic problem of determining the pose. It only needs a single or even no external sensor informat...

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Problems solved by technology

[0005] However, the above methods are all mathematical methods, which are more accu

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