A method and device for automatically correcting odometer

Abstract

The present invention discloses an odometer automatic correction method and device. The method comprises: sending an automatic rotation instruction to a dual differential robot to control the robot to perform forward rotation and reverse rotation respectively; calculating the actual average speed and average feedback speed of the robot during forward rotation and reverse rotation respectively according to the average angular velocity, the motion radius, the wheelbase compensation value and the wheelbase of the robot; determining the motion speed compensation value and the feedback speed compensation value of the robot during forward rotation and reverse rotation according to the actual average speed and the average feedback speed; correcting the odometer data of the robot during movement according to the motion speed compensation value and the feedback speed compensation value of the robot, so as to eliminate the speed and angle errors during the robot's driving process, and improve the positioning accuracy of the robot.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of robot automatic driving, and in particular to an odometer automatic correction method and device. Background Art

[0002] During the robot's driving process, the odometer needs to send and feedback information such as the robot's driving distance, speed, angular velocity, etc. However, due to the accuracy error of the sensor itself, the error in the mechanical structure production process, and the wear of the robot's wheels due to long-term driving, if it is not corrected regularly, the error of the odometer will become larger and larger, thereby affecting the robot's driving speed and angle, etc., and will have a certain impact on the positioning accuracy. The existing technology lacks an effective solution for correcting the odometer error, and the present invention is derived from this. Summary of the invention

[0003] The present invention provides an odometer automatic correction method and device to realize automatic correction of robot odometer parameters, thereby improving positioning accuracy.

[0004] In a first aspect, an embodiment of the present invention provides an odometer automatic correction method, comprising:

[0005] S1, send automatic rotation instructions to the dual differential robot to control the robot to rotate forward and reverse respectively;

[0006] S2, calculating the average angular velocity, motion radius and wheelbase compensation value of the robot during rotation, and calculating the actual average motion speed and average feedback speed of the robot during forward rotation and reverse rotation according to the average angular velocity, motion radius, wheelbase compensation value and robot wheelbase;

[0007] S3, determining the movement speed compensation value and feedback speed compensation value of the robot during forward rotation and reverse rotation according to the actual movement average speed and the average feedback speed;

[0008] S4. Correct the odometer data during the robot's movement according to the robot's movement speed compensation value and feedback speed compensation value.

[0009] Optionally, the calculation of the average angular velocity, the motion radius and the wheelbase compensation value during the rotation of the robot in S2 includes:

[0010] Obtain the odometer attitude angle change and global coordinate angle change of the stable driving section during the robot's forward rotation and reverse rotation respectively;

[0011] Calculate the average angular velocity of the robot during forward rotation and reverse rotation according to the global coordinate angle change and the corresponding travel time;

[0012] According to the global coordinates of the starting point and the end point during the robot's rotation, the movement radius of the robot's forward rotation and reverse rotation are calculated respectively;

[0013] The wheelbase compensation values ​​of the robot in the forward rotation and reverse rotation are calculated respectively according to the odometer attitude angle change and the global coordinate angle change.

[0014] Optionally, the actual average movement speed and average feedback speed of the robot during forward rotation and reverse rotation are calculated in S2 according to the average angular velocity, the movement radius, the wheelbase compensation value and the wheelbase of the robot, respectively, including:

[0015] The actual average speed of the left and right wheels during the robot's forward rotation is

[0016] in, R + , + are the average angular velocity, motion radius and wheelbase compensation value of the robot during forward rotation, and L is the wheelbase of the robot;

[0017] The actual average speed of the left and right wheels during the robot's reverse rotation is

[0018] in, R - λ - They are the average angular velocity, motion radius and wheelbase compensation value of the robot during reverse rotation;

[0019] The arithmetic average of the left and right wheel speeds during the robot's forward rotation is used as the average feedback speed during the robot's forward rotation movement;

[0020] The arithmetic mean of the left and right wheel speeds during the robot's reverse rotation is taken as the average feedback speed during the robot's reverse rotation.

[0021] Optionally, the motion speed compensation value of the robot during forward rotation is:

[0022]

[0023] in, They are respectively the speed compensation value sent by the left wheel in the forward rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

[0024] Optionally, the feedback speed compensation value during the robot's forward rotation is:

[0025]

[0026] in, They are respectively the speed compensation value of the left wheel feedback in the forward rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

[0027] Optional, the feedback speed compensation value during the robot's reverse rotation is:

[0028]

[0029] in, They are respectively the speed compensation value sent by the left wheel during the reverse rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

[0030] Optionally, the feedback speed compensation value during the robot's reverse rotation is:

[0031]

[0032] in, They are respectively the speed compensation value of the left wheel feedback during the reverse rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

[0033] Optionally, the method further includes:

[0034] The wheelbase of the robot during forward driving is compensated according to the wheelbase compensation value during forward rotation of the robot and the wheelbase of the robot;

[0035] The wheelbase of the robot during reverse driving is compensated according to the wheelbase compensation value during reverse rotation of the robot and the wheelbase of the robot.

[0036] In a second aspect, an embodiment of the present invention further provides an odometer automatic correction device, comprising:

[0037] The control rotation module is used to send automatic rotation instructions to the dual differential robot to control the robot to rotate forward and reverse respectively;

[0038] The actual operation value calculation module is used to calculate the average angular velocity, movement radius and wheelbase compensation value of the robot during rotation, and calculate the actual movement average speed and average feedback speed of the robot during forward rotation and reverse rotation according to the average angular velocity, movement radius, wheelbase compensation value and robot wheelbase;

[0039] A compensation value determination module, used to determine a motion speed compensation value and a feedback speed compensation value during the forward rotation and reverse rotation of the robot according to the actual motion average speed and the average feedback speed;

[0040] The correction module is used to correct the odometer data during the robot's movement according to the robot's movement speed compensation value and feedback speed compensation value.

[0041] The technical solution of this embodiment controls the dual-differential robot to rotate forward and reverse, and determines the movement speed compensation value and feedback speed compensation value of the robot according to the operating parameters sent by the odometer and the actual operating parameters of the robot, so as to correct the odometer data during the operation of the robot according to the calculated compensation value, so as to eliminate speed and angle errors during the driving process of the robot, thereby improving the positioning accuracy of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flowchart of an odometer automatic correction method provided by an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the forward rotation trajectory of the robot provided by an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of the reverse rotation trajectory of the robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] Example

[0047] Figure 1 A flowchart of an odometer automatic correction method provided by an embodiment of the present invention specifically includes the following steps:

[0048] S1. Send automatic rotation instructions to the dual differential robot to control the robot to rotate forward and reverse respectively.

[0049] In this embodiment, a forward rotation running trajectory and a reverse rotation running trajectory are generated by sending an automatic rotation instruction to the robot.

[0050] Specifically, step S1 includes:

[0051] 1. Get the original coordinates (x0, y0, θ0) of the dual differential robot in the global coordinate system, and send the automatic rotation command to control the robot to rotate forward. The motion trajectory is shown in Figure 2 Among them, the angle sent to the robot is π, and the speed of the left wheel is The sending speed of the right wheel is

[0052] 2. The robot's forward walking trajectory is a semicircular arc. After stopping, obtain the coordinates (x, y, θ) of the dual differential robot in the global coordinate system;

[0053] 3. Send the automatic rotation command again to control the robot to rotate in the opposite direction. The motion trajectory is shown in Figure 3 Among them, the angle sent to the robot is 0, and the speed of the left wheel is The sending speed of the right wheel is Negative value, preferably

[0054] The robot's reverse walking trajectory is a semicircular arc. After stopping, the coordinates of the dual differential robot in the global coordinate system are obtained (x0′, y0′, θ0′).

[0055] S2. Calculate the average angular velocity, motion radius and wheelbase compensation value during the robot's rotation process, and calculate the actual average motion speed and average feedback speed of the robot during forward rotation and reverse rotation according to the average angular velocity, motion radius, wheelbase compensation value and robot wheelbase.

[0056] Specifically, step S2 includes the following steps:

[0057] 1. Selection of angles for stable sections

[0058] After the speed is sent to the robot, the robot accelerates and decelerates during the driving process, so the angle of a stable driving section in the middle is selected to calculate the actual average movement speed and the average feedback speed.

[0059] Get the stable driving section area during forward driving, and the odometer attitude angle change range is The global coordinate angle change range is

[0060] Obtain the range of odometer attitude angle change in the stable driving section during reverse driving. The global coordinate angle change range is

[0061] 2. Calculate wheelbase compensation value

[0062] The forward wheelbase compensation value is:

[0063] The reverse wheelbase compensation value is:

[0064] 3. Calculate the average angular velocity of the robot during driving

[0065] When driving forward, record the angle at Travel time within the interval Average angular velocity Angle range Best

[0066] When driving in reverse, the recorded angle is in the interval Driving time within Average angular velocity Degree interval Best

[0067] 4. According to the coordinates (x0, y0, θ0), (x, y, θ), (x0′, y0′, θ0′), the radius of the robot's forward walking arc can be obtained: The radius of the reverse walking arc

[0068] 5. According to the average angular velocity of forward driving Robot motion radius R, robot wheelbase L, and wheelbase compensation value λ + The actual speed of the left and right wheels of the robot during forward motion can be obtained as The actual speed of the left and right wheels during the reverse motion is

[0069] If issued but

[0070] If issued but

[0071] If issued but

[0072] If issued but

[0073] in, are the average angular velocity, motion radius and wheelbase compensation value of the robot during forward rotation, and L is the wheelbase of the robot; R - λ - They are respectively the average angular velocity, motion radius and wheelbase compensation value during the robot’s reverse rotation.

[0074] 6. Get the average speed of the left and right wheels fed back to the control center during the entire movement:

[0075] When moving forward, the recorded angle is The arithmetic mean of the left and right wheel speeds within the interval

[0076] When moving in the reverse direction, record the angle at The arithmetic mean of the left and right wheel speeds within the interval

[0077] S3. Determine the movement speed compensation value and feedback speed compensation value of the robot during forward rotation and reverse rotation according to the actual movement average speed and the average feedback speed.

[0078] Specifically, the above S3 specifically includes:

[0079] 1. According to the left and right wheel speeds sent during the robot's forward motion and the actual average speed during the movement Obtain the speed compensation value issued by the left and right wheels during the robot's forward motion:

[0080]

[0081] Among them, among them, They are respectively the speed compensation value sent by the left wheel in the forward rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

[0082] 2. According to the average speed of the robot during forward motion And the average speed of the left and right wheels fed back to the control center Obtain the speed compensation value of the left and right wheel feedback during the robot's forward motion:

[0083]

[0084] in, They are respectively the speed compensation value of the left wheel feedback in the forward rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

[0085] 3. According to the left and right wheel speeds sent during the robot's reverse motion and the actual average speed during the movement Obtain the speed compensation value issued by the left and right wheels during the robot's reverse motion:

[0086]

[0087] in, They are respectively the speed compensation value sent by the left wheel during the reverse rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

[0088] 4. According to the average speed of the robot during reverse motion And the average speed of the left and right wheels fed back to the control center Obtain the speed compensation value of the left and right wheel feedback during the robot's forward motion:

[0089]

[0090] Among them, among them, They are respectively the speed compensation value of the left wheel feedback during the reverse rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

[0091] S4. Correct the odometer data during the robot's movement according to the robot's movement speed compensation value and feedback speed compensation value.

[0092] When the robot is driving, the control center will send the speed and angular velocity to the motion center. The motion center will calculate the speed values ​​of the left and right wheels through the odometer model. At the same time, the motion center will also feedback the real-time data of the left and right wheels through the odometer.

[0093] In this embodiment, the differential drive robot needs to correct 10 data during the actual movement process.

[0094] ①Forward wheelbase L + ′=L×(1+λ + ), L represents the wheelbase of the robot;

[0095] ②Reverse driving wheelbase L - ′=L×(1+λ - ), L represents the wheelbase of the robot;

[0096] ③ Left wheel speed when driving forward It means that the forward driving does not compensate the front left wheel downward speed;

[0097] ④ Right wheel speed when driving forward Indicates that the speed of the front right wheel is not compensated when driving in the forward direction;

[0098] ⑤ Left wheel feedback speed when driving forward It means that the front left wheel feedback speed is not compensated in forward driving;

[0099] ⑥Forward right wheel feedback speed It means that the front right wheel feedback speed is not compensated in forward driving;

[0100] ⑦Reverse driving left wheel speed It means that the reverse driving does not compensate the front left wheel downward speed;

[0101] ⑧Reverse driving right wheel speed It means that the speed of the front right wheel is not compensated when driving in reverse direction;

[0102] ⑨Reverse driving left wheel feedback speed It means that the front left wheel feedback speed is not compensated when driving in reverse;

[0103] ⑩Reverse driving right wheel feedback speed Indicates that the front right wheel feedback speed is not compensated when driving in reverse.

[0104] The technical solution of this embodiment controls the dual-differential robot to rotate forward and reverse, and determines the movement speed compensation value and feedback speed compensation value of the robot according to the operating parameters issued by the odometer and the actual operating parameters of the robot, so as to correct the odometer data during the operation of the robot according to the calculated compensation value, so as to eliminate speed and angle errors during the driving process of the robot, thereby improving the positioning accuracy of the robot.

[0105] The embodiment of the present invention also provides an odometer automatic correction device, including:

[0106] The control rotation module is used to send automatic rotation instructions to the dual differential robot to control the robot to rotate forward and reverse respectively;

[0107] The actual operation value calculation module is used to calculate the average angular velocity, movement radius and wheelbase compensation value of the robot during rotation, and calculate the actual movement average speed and average feedback speed of the robot during forward rotation and reverse rotation according to the average angular velocity, movement radius, wheelbase compensation value and robot wheelbase;

[0108] A compensation value determination module, used to determine a motion speed compensation value and a feedback speed compensation value during the forward rotation and reverse rotation of the robot according to the actual motion average speed and the average feedback speed;

[0109] The correction module is used to correct the odometer data during the robot's movement according to the robot's movement speed compensation value and feedback speed compensation value.

[0110] Among them, the calculation of the average angular velocity, motion radius and wheelbase compensation value during the robot's rotation process includes:

[0111] Obtain the odometer attitude angle change and global coordinate angle change of the stable driving section during the robot's forward rotation and reverse rotation respectively;

[0112] Calculate the average angular velocity of the robot during forward rotation and reverse rotation according to the global coordinate angle change and the corresponding travel time;

[0113] According to the global coordinates of the starting point and the end point during the robot's rotation, the movement radius of the robot's forward rotation and reverse rotation are calculated respectively;

[0114] The wheelbase compensation values ​​of the robot in the forward rotation and reverse rotation are calculated respectively according to the odometer attitude angle change and the global coordinate angle change.

[0115] The actual average movement speed and the average feedback speed of the robot during forward rotation and reverse rotation are calculated according to the average angular velocity, the movement radius, the wheelbase compensation value and the wheelbase of the robot, respectively, including:

[0116] The actual average speed of the left and right wheels during the robot's forward rotation is

[0117] in, R + , + are the average angular velocity, motion radius and wheelbase compensation value of the robot during forward rotation, and L is the wheelbase of the robot;

[0118] The actual average speed of the left and right wheels during the robot's reverse rotation is

[0119] in, R - λ - They are the average angular velocity, motion radius and wheelbase compensation value of the robot during reverse rotation;

[0120] The arithmetic average of the left and right wheel speeds during the robot's forward rotation is used as the average feedback speed during the robot's forward rotation movement;

[0121] The arithmetic mean of the left and right wheel speeds during the robot's reverse rotation is taken as the average feedback speed during the robot's reverse rotation.

[0122] Optionally, the motion speed compensation value of the robot during forward rotation is:

[0123]

[0124] in, They are respectively the speed compensation value sent by the left wheel in the forward rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

[0125] Optionally, the feedback speed compensation value during the robot's forward rotation is:

[0126]

[0127] in, They are respectively the speed compensation value of the left wheel feedback in the forward rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

[0128] Optional, the feedback speed compensation value during the robot's reverse rotation is:

[0129]

[0130] in, They are respectively the speed compensation value sent by the left wheel during the reverse rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

[0131] Optionally, the feedback speed compensation value during the robot's reverse rotation is:

[0132]

[0133] in, They are respectively the speed compensation value of the left wheel feedback during the reverse rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

[0134] Optionally, the correction module is further used to: compensate the wheelbase of the robot during forward driving according to the wheelbase compensation value during forward rotation of the robot and the wheelbase of the robot;

[0135] The wheelbase of the robot during reverse driving is compensated according to the wheelbase compensation value during reverse rotation of the robot and the wheelbase of the robot.

[0136] The odometer automatic correction device provided in the embodiment of the present invention can execute the odometer automatic correction method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0137] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An odometer automatic correction method, characterized in that: include: S1, send automatic rotation instructions to the dual differential robot to control the robot to rotate forward and reverse respectively; S2, calculating the average angular velocity, motion radius and wheelbase compensation value of the robot during rotation, and calculating the actual average motion speed and average feedback speed of the robot during forward rotation and reverse rotation according to the average angular velocity, motion radius, wheelbase compensation value and robot wheelbase; S3, determining the movement speed compensation value and feedback speed compensation value of the robot during forward rotation and reverse rotation according to the actual movement average speed and the average feedback speed; S4, correcting the odometer data during the robot's movement according to the robot's movement speed compensation value and feedback speed compensation value; The calculation of the average angular velocity, motion radius and wheelbase compensation value of the robot during rotation in S2 includes: Obtain the odometer attitude angle change and global coordinate angle change of the stable driving section during the robot's forward rotation and reverse rotation respectively; Calculate the average angular velocity of the robot during forward rotation and reverse rotation according to the global coordinate angle change and the corresponding travel time; According to the global coordinates of the starting point and the end point during the robot's rotation, the movement radius of the robot's forward rotation and reverse rotation are calculated respectively; The wheelbase compensation values ​​of the robot in the forward rotation and reverse rotation are calculated respectively according to the odometer attitude angle change and the global coordinate angle change.

2. The method according to claim 1, characterized in that In S2, the actual average movement speed and the average feedback speed of the robot during forward rotation and reverse rotation are calculated according to the average angular velocity, the movement radius, the wheelbase compensation value and the wheelbase of the robot, respectively, including: The actual average speed of the left and right wheels during the robot's forward rotation is in, R + , + are the average angular velocity, motion radius and wheelbase compensation value of the robot during forward rotation, and L is the wheelbase of the robot; The actual average speed of the left and right wheels during the robot's reverse rotation is in, R - λ - They are the average angular velocity, motion radius and wheelbase compensation value of the robot during reverse rotation; The arithmetic average of the left and right wheel speeds during the robot's forward rotation is used as the average feedback speed during the robot's forward rotation movement; The arithmetic mean of the left and right wheel speeds during the robot's reverse rotation is taken as the average feedback speed during the robot's reverse rotation.

3. The method according to claim 2, characterized in that The motion speed compensation value of the robot during forward rotation is: in, They are respectively the speed compensation value sent by the left wheel in the forward rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

4. The method according to claim 2, characterized in that: The feedback speed compensation value during the robot's forward rotation is: in, They are respectively the speed compensation value of the left wheel feedback in the forward rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

5. The method according to claim 2, characterized in that: The feedback speed compensation value during the robot's reverse rotation is: in, They are respectively the speed compensation value sent by the left wheel during the reverse rotation process, the speed compensation value sent by the right wheel, the sending speed of the left wheel, the actual average speed of the left wheel, the sending speed of the right wheel and the actual average speed of the right wheel.

6. The method according to claim 2, characterized in that The feedback speed compensation value during the robot's reverse rotation is: in, They are respectively the speed compensation value of the left wheel feedback during the reverse rotation process, the speed compensation value of the right wheel feedback, the actual average movement speed of the left wheel, the average feedback speed of the left wheel, the actual average movement speed of the right wheel and the average feedback speed of the right wheel.

7. The method according to claim 1, characterized in that The method further comprises: The wheelbase of the robot during forward driving is compensated according to the wheelbase compensation value during forward rotation of the robot and the wheelbase of the robot; The wheelbase of the robot during reverse driving is compensated according to the wheelbase compensation value during reverse rotation of the robot and the wheelbase of the robot.

8. An odometer automatic correction device, characterized in that: include: The control rotation module is used to send automatic rotation instructions to the dual differential robot to control the robot to rotate forward and reverse respectively; The actual operation value calculation module is used to calculate the average angular velocity, movement radius and wheelbase compensation value of the robot during rotation, and calculate the actual movement average speed and average feedback speed of the robot during forward rotation and reverse rotation according to the average angular velocity, movement radius, wheelbase compensation value and robot wheelbase; A compensation value determination module, used to determine a motion speed compensation value and a feedback speed compensation value during the forward rotation and reverse rotation of the robot according to the actual motion average speed and the average feedback speed; A correction module is used to correct the odometer data during the robot's movement according to the robot's movement speed compensation value and feedback speed compensation value; Calculate the average angular velocity, motion radius, and wheelbase compensation value during the robot's rotation, including: Obtain the odometer attitude angle change and global coordinate angle change of the stable driving section during the robot's forward rotation and reverse rotation respectively; Calculate the average angular velocity of the robot during forward rotation and reverse rotation according to the global coordinate angle change and the corresponding travel time; According to the global coordinates of the starting point and the end point during the robot's rotation, the movement radius of the robot's forward rotation and reverse rotation are calculated respectively; The wheelbase compensation values ​​of the robot in the forward rotation and reverse rotation are calculated respectively according to the odometer attitude angle change and the global coordinate angle change.

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