An Analysis on the Odometer Positioning System With Error Elimination

doi:10.11985/2018.06.004

Abstract

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

CLC Number:

TP242

Yan Yiping,Cui Kainan,Yuan Yi,Zhang Yuehong. An Analysis on the Odometer Positioning System With Error Elimination[J]. Journal of Electrical Engineering, 2018, 13(6): 20-27.

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序号	名称	规格型号	性能指标	数量/个
1	控制器	NI,myRIO-1900型	双核ARM Cortex-A9,Xilinx FPGA	1
2	直流减速电机	TETRI,V2型	12V,2.26N·m,152r/min	3
3	旋转编码器	US Digital E4P型	1 440 PPR	3
4	电机驱动板	A4973型	两路,驱动电流1.5A	2
5	红外传感器	SHARP,GP2Y0A21YK0F型	量程：100~800mm	1
6	超声波传感器	PARALLAX,28015#型	量程：20~3 000mm	2