电气工程学报 ›› 2018, Vol. 13 ›› Issue (6): 20-27.doi: 10.11985/2018.06.004

• 理论研究 • 上一篇    下一篇

误差消除型里程计定位方法的分析与研究

闫毅平1,2,崔凯楠2,袁懿2,张玥红2   

  1. 1. 北京交通大学电气工程学院电力电子研究所 北京 100044
    2. 北京市工贸技师学院电气系 北京 100097
  • 收稿日期:2018-04-03 出版日期:2018-06-25 发布日期:2018-06-25
  • 作者简介:闫毅平 男 1974年生,硕士研究生,研究方向为电力电子与电力传动。|崔凯楠 男 1985年生,博士研究生,研究方向为信息传播分析。

An Analysis on the Odometer Positioning System With Error Elimination

Yan Yiping1,2,Cui Kainan2,Yuan Yi2,Zhang Yuehong2   

  1. 1. Beijing Jiaotong University Beijing 100044 China
    2. Beijing Industry and Trade Technicians College Beijing 100097 China
  • Received:2018-04-03 Online:2018-06-25 Published:2018-06-25

摘要:

全向移动平台可向任意方向直线运动而无需事先旋转运动,可在直线运动的同时执行旋转运动,机动性及避障性能好。本文介绍了基于NI公司myRIO-1900型控制器的误差消除型里程计定位系统,在基于编码器、陀螺仪的传统里程计定位的基础上,引入红外传感器、超声波传感器,通过均值滤波与修正,精确测量平台的姿态,并周期性将累计误差清零,达到消除累计误差的目的。该方法已应用于2017年世界技能大赛移动机器人项目,竞赛平台运动控制效果良好,满足高速、精确的运动控制要求。本文提出的误差消除型里程计定位方案性价比高,实用性强,控制精确,应用前景广阔。

关键词: PWM, 闭环控制, 误差消除, 平台定位, 运动导航

Abstract:

The omni-directional mobile platform is maneuverable and good at obstacle avoidance, as it can move straight in any direction and perform rotational motion at the same time. In this paper, an odometer positioning system is introduced with error elimination for NI myRIO-1900. Compared to traditional odometer positioning system which mainly depends on encoder and gyroscope, infrared sensor and ultrasonic sensor are introduced to our system. Through mean filter and periodical clearing cumulative error, our system could measure the posture of the platform accurately. This method has been applied in the 2017 the 44th World Skills Competition mobile robotics project. The competition result proved that our positioning system has good performance, which satisfies the requirement of high speed and precise motion control. The odometer positioning system with error elimination presented in this paper is cost-effective and practicable, which is a precise control scheme.

Key words: PWM, closed-loop control, error elimination, platform positioning, motion navigation

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