兵工自动化2017，Vol.36Issue(5)：62-65,4.DOI:10.7690/bgzdh.2017.05.017
三轮全向移动机器人的航迹推算定位方法
Dead Reckoning Positioning Method of 3 Wheels Omnidirectional Mobile Robot
摘要
Abstract
To improve the positioning accuracy of autonomous positioning robot, a dead reckoning positioning robot structure based on 3 omnidirectional driven wheels was designed. Robot's driving wheel system was composed of 4 Mecanum wheels and driven wheel system was composed of 3 omnidirectional wheels. Robot's pose information was calculated and updated according to discretized dead reckoning positioning formula. Finally, positioning error was obtained by experiments of various motion modes and different sampling periods. The experiment results show the method meets the requirements of robot indoor positioning. Theoretical basis and experimental reference of dead reckoning positioning were provided.关键词
移动机器人/航迹推算定位/结构设计/误差/精度Key words
mobile robot/dead reckoning positioning/structure design/error/precision分类
信息技术与安全科学引用本文复制引用
李雪茹,王禹林,欧屹,王志荣,汪满新..三轮全向移动机器人的航迹推算定位方法[J].兵工自动化,2017,36(5):62-65,4.基金项目
国家自然科学基金(51605225),中央高校基本科研业务费专项资金(30915118830) （51605225）
