1008-1542
2022
43
3
268
276
10.7535/hbkd.2022yx03006
article
家用智能看护机器人高精度里程计估计算法
High precision odometer estimation algorithm for household intelligent nursing robot
为了解决家用智能看护机器人车轮轮胎和地面作用力与电机输出力矩不平衡，易导致看护机器人产生滑动、里程计估计精度低的问题，引入牵引系数描述机器人滑动情况，推导含牵引系数的看护机器人运动学模型，以增量式光电编码器和惯性测量单元2种传感器为输入，将含牵引系数的运动学模型应用于基于扩展卡尔曼滤波算法的看护机器人里程计估计算法，搭建看护机器人实验系统完成算法验证。结果表明：在家用瓷砖地面，看护机器人分别以0.1，0.2，0.4 m/s的速度移动时，与传统里程计估计算法相比，所提出的机器人里程计估计算法的误差降低了40%左右。将含牵引系数的运动学模型应用于机器人里程计估计算法，可有效降低看护机器人的里程计估计误差，为提高看护机器人在室内地面的自主导航精度提供了一定的参考。
In order to solve the problem that the imbalance between wheel tire of home nursing robot and the ground force and the motor output torque is easy to the sliding of the robot and the low accuracy of odometer estimation,the traction coefficient was introduced to describe the sliding condition of the robot,and the kinematic model of robot containing traction coefficient was deduced.Two sensors of incremental photoelectric encoder and inertial measurement unit were adopted as inputs to apply the kinematic model containing traction coefficient in the odometer estimation algorithm based on extended Kalman Filter algorithm.Finally,a robot experimental system was formulated to complete the algorithm verification.The results indicate that when the robot moves at the speed of 0.1,0.2,0.4 m/s on home ceramic ground,the estimation error of the proposed robot odometer is reduced by about 40% compared with the traditional odometer estimation algorithm.Applying the kinematic model with traction coefficient to the robot range meter estimation algorithm can effectively reduce the odometer estimation error of the nursing robot,thus providing a certain reference for the improvement of the independent navigational accuracy of the home nursing robot on indoor grounds.
机器人控制；智能看护机器人；里程计估计；多传感器融合；牵引系数
robot control; intelligent nursing robot; odometer estimation; multisensory fusion; traction coefficient
余 雷,刘怡明,张灵霖,徐 扬
YU Lei, LIU Yiming, ZHANG Linglin, XU Yang
hbkjdx/article/abstract/b202203006