双舵轮泊车机器人运动学分析及定位系统研究

钟浩翔; 陈亚; 王殿君; 朱亚东; 焦向东; 高易佳

doi:10.13433/j.cnki.1003-8728.20220129

双舵轮泊车机器人运动学分析及定位系统研究

doi: 10.13433/j.cnki.1003-8728.20220129

北京石油化工学院机械工程学院, 北京 102600

基金项目:

北京市教委科技计划一般项目 KM201810017003

详细信息

作者简介:
钟浩翔(1997-), 硕士研究生, 研究方向为移动机器人技术, zhx1997326@163.com

通讯作者:
陈亚, 讲师, 硕士生导师, chenya@bipt.edu.cn

中图分类号: TP242.2
计量
- 文章访问数: 95
- HTML全文浏览量: 89
- PDF下载量: 22
- 被引次数: 0
出版历程
- 收稿日期: 2021-09-16
- 刊出日期: 2023-10-25

Research on Kinematics Analysis and Positioning System of Double Steering-wheel Parking Robot

College of Mechanical Engineering, Beijing Institute of Petrochemical Technology, Beijing 102600, China

摘要

摘要: 针对泊车机器人定位特点, 使用惯导、里程计、二维码模块, 基于Visual C++平台开发了一种泊车机器人定位系统。针对双舵轮泊车机器人构型, 采用速度-几何法建立了机器人运动学模型, 在此基础上, 推导了惯导传感器数据的姿态变换矩阵, 建立了里程计传感器运动模型, 结合运动学航位推算与卡尔曼滤波方法, 提出了一种多传感器组合定位方法。泊车机器人定位实验表明, 应用多传感器组合定位方法的泊车机器人可以较好地实现机器人稳定工作, 相比航位推算定位方法, 其平均定位偏差降低了92%, 达到14.04 mm, 定位精度显著提高, 可以较好地满足泊车机器人定位需求。
- 泊车机器人 /
- 运动学 /
- 移动机器人定位 /
- 速度-几何法
Abstract: Aiming at the positioning feature of parking robot, by using inertial navigation, odometer and two-dimensional code module, a parking robot positioning system was developed based on Visual C + + platform. The speed geometry method was adopted and the robot kinematic model was established. On this basis, the attitude transformation matrix of inertial navigation sensor data was derived, and the odometer sensor motion model was established. Combined Kalman filter method with kinematic dead reckoning, a multi-sensor combined positioning method was proposed. The positioning experiment of parking robot shows that, the parking robot that adopts multi-sensor combined positioning method can better realize the operation; Compared with dead reckoning positioning method, its average positioning deviation is reduced by 92%, reaching 14.04 mm, and the positioning accuracy is significantly improved, which can better meet the positioning requirements of parking robot.
- parking robot /
- kinematics /
- mobile robot positioning /
- speed geometry method

HTML全文

图 1 泊车机器人轮系结构

Figure 1. Wheel structure of a parking robot

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图 2 曲线运动位姿状态

Figure 2. Pose status of curved motion

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图 3 导航定位模块软件流程

Figure 3. Software flow of navigation and positioning module

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图 4 双舵轮泊车机器人样机

Figure 4. Prototype of the double steering-wheel parking robot

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图 5 实验环境

Figure 5. Experimental environment

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图 6 运动学航位推算定位方法实验结果

Figure 6. Experimental results on kinematic dead reckoning positioning method

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图 7 多传感器组合定位方法实验结果

Figure 7. Experimental results on multi-sensor combined positioning method

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表 1 运动学航位推算定位方法实验数据

Table 1. Experimental data of kinematic dead reckoning positioning method

实测坐标		计算坐标		误差d/mm
X/mm	Y/mm	X/mm	Y/mm	误差d/mm
0.01	-1.19	0.00	0.00	1.19
0.43	-695.08	-0.64	-700.66	5.68
2.01	-1 399.31	-1.33	-1 373.73	25.80
4.37	-2 104.78	-2.00	-2 047.07	58.06
4.85	-2 809.72	-2.62	-2 720.80	89.24
4.48	-3 514.16	-3.31	-3 394.15	120.26
3.90	-4 218.63	-3.94	-4 066.94	151.90
4.17	-4 923.16	-4.48	-4 740.78	182.58
4.73	-5 627.95	-5.11	-5 413.98	214.20
5.99	-6 333.23	-5.68	-6 087.69	245.82
7.83	-6 637.20	-6.03	-6 491.74	146.12
447.03	-6 633.10	263.83	-6 491.99	231.24
1 150.98	-6 633.22	937.00	-6 492.72	255.99
1 853.42	-6 632.98	1 610.57	-6 493.51	280.06
2 490.43	-6 634.39	2 284.48	-6 494.05	249.22
2 490.32	-6 634.39	2 418.81	-6 494.26	157.32
2 490.33	-6 634.39	2 418.81	-6 494.26	157.32
2 483.62	-6 624.79	2 417.48	-6 493.82	146.72
2 489.64	-4 514.31	2 419.13	-4 650.77	153.60
2 489.38	-3 810.98	2 419.79	-3 977.71	180.67
2 488.39	-3 105.48	2 420.38	-3 304.12	209.95
2 487.89	-2 400.05	2 421.04	-2 631.19	240.60
2 489.14	-1 694.51	2 421.63	-1 957.33	271.35
2 489.51	-988.93	2 422.35	-1 283.84	302.46
2 487.83	-282.71	2 423.05	-610.63	334.25

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表 2 多传感器组合定位方法实验数据

Table 2. Experimental data of multi-sensor combined positioning method

实测坐标		计算坐标		误差d/mm
X/mm	Y/mm	X/mm	Y/mm	误差d/mm
-0.02	0.01	0.00	0.00	0.29
5.71	-813.90	2.85	-828.41	15.04
14.40	-1 800.33	12.34	-1 817.10	17.14
22.35	-2 787.31	20.54	-2 801.02	14.08
27.90	-3 773.44	26.34	-3 789.14	16.02
34.73	-4 759.40	35.36	-4 776.09	16.92
41.77	-5 745.98	44.99	-5 766.02	20.49
49.62	-6 591.78	50.99	-6 608.03	16.52
206.50	-6 656.84	222.54	-6 655.94	15.86
772.61	-6 655.64	782.30	-6 664.49	13.13
1 333.01	-6 652.03	1 344.76	- 6 670.20	21.72
1 894.90	-6 648.24	1 904.85	-6 660.54	15.88
2 509.28	-6 645.60	2 505.80	-6 669.92	24.82
2 504.31	-5 756.20	2 498.52	-5 774.02	19.01
2 498.92	-4 769.71	2 494.07	-4 787.60	18.81
2 492.97	-3 785.05	2 487.91	-3 799.48	15.57
2 484.93	-2 797.57	2 481.89	-2 822.93	25.79
2 480.36	-1 809.09	2 475.80	-1 825.96	17.74
2 475.23	-821.64	2 472.53	-844.66	23.43
2 468.92	25.08	2 466.59	2.58	22.86

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