轻工机械2026，Vol.44Issue(2)：50-57,66,9.DOI:10.3969/j.issn.1005-2895.2026.02.006
面向高精度里程估计的2轮驱动移动机器人运动控制优化方法
Motion Control Optimization for High-Precision Odometry in Two-Wheeled Drive Mobile Robot
摘要
Abstract
To address issues such as significant odometry drift,non-smooth motion response,accumulated system errors,and unstable Inertial Measurement Unit(IMU)bias in two-wheeled drive mobile robots,the research team proposed a comprehensive optimization strategy.A motion-state-aware Adaptive Extended Kalman Filter(AEKF)was designed,dynamically adjusting observation weights based on residuals between encoders and IMU to enhance state estimation robustness;An S-curve acceleration and deceleration profile with feedforward compensation,tailored to servo dynamic characteristics and constrained by current limits,was developed to generate smooth motion commands;An online error compensation mechanism based on round-trip task consistency was constructed to self-calibrate wheelbase and wheel diameter deviations;A multi-source stationary detection fusion method was developed for IMU bias correction,significantly improving long-term heading stability.Experimental results demonstrate that the proposed strategy substantially enhances odometry accuracy and system stability,validating its engineering practicality and robustness.关键词
移动机器人/2 轮驱动/自适应扩展卡尔曼滤波/S 型加减速/在线误差补偿/惯性单元零偏校正Key words
mobile robot/two-wheeled drive/AEKF(Adaptive Extended Kalman Filter)/S-curve acceleration and deceleration/online error compensation/IMU(Inertial Measurement Unit)bias correction分类
信息技术与安全科学引用本文复制引用
陈苏芃,张秋菊,郑坤明..面向高精度里程估计的2轮驱动移动机器人运动控制优化方法[J].轻工机械,2026,44(2):50-57,66,9.基金项目
国家自然科学基金青年科学基金项目(52205015). （52205015）
