Mileage counting data correction method for robot and robot

Abstract

The invention discloses a mileage counting data correction method for a robot and the robot. The mileage counting data correction method comprises the following steps of initializing a system state quantity and a system covariance matrix of the robot; computing a moving distance of a left wheel and a moving distance of a right wheel of the robot, and carrying out state prediction and system covariance prediction according to a system state noiseless model in combination with the initialized system state quantity and the system covariance matrix of the robot in order to output the system statequantity and the system covariance matrix of the robot after state prediction; and reading inertial measurement unit data and judging whether an absolute value of a difference between the current inertial measurement unit data and the inertial measurement unit data at the previous moment is within a first set threshold in order to output the system state quantity and the system covariance matrix of the robot after the state prediction as fused information. The mileage counting data correction method provided by the invention has the advantages of high real-time performance and high computational accuracy.

Description

technical field [0001] The invention relates to the technical field of robot trajectory calculation, in particular to a method for correcting odometer data of a robot and the robot. Background technique [0002] In recent years, with the increasing maturity of robot technology research and the gradual improvement of hardware conditions, the calculation of real-time robot trajectory has higher requirements. Under the premise of ensuring real-time, the accuracy of pose must be guaranteed, which is a basic problem of robot trajectory calculation. [0003] The robot trajectory calculation method in the prior art is obviously wrong when the wheels are slipping. In addition, when the robot is turning, the calculated relative deflection angle is not accurate, and due to the influence of zero drift and temperature drift, its data is easy to are affected, resulting in a very large cumulative error in the computed trajectory. Therefore, improvements are urgently needed. Contents o...

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Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the object of the present invention is to provide a robot odometer data correction method and a robot, which are used to solve the obvious error in the calculation result of the robot in the prior art when the wheels are slipping, and in addition When the robot is turning, the calculated relative deflection angle is not accurate, and due to the influence of zero drift and temperature drift, its data is easily affected, which leads to the problem that the calculated trajectory has a very large cumulative error

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