CN109669350B - Quantitative estimation method for wheel slip of three-wheeled omnidirectional mobile robot - Google Patents

Quantitative estimation method for wheel slip of three-wheeled omnidirectional mobile robot Download PDF

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CN109669350B
CN109669350B CN201710951900.8A CN201710951900A CN109669350B CN 109669350 B CN109669350 B CN 109669350B CN 201710951900 A CN201710951900 A CN 201710951900A CN 109669350 B CN109669350 B CN 109669350B
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段琢华
许文杰
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University of Electronic Science and Technology of China Zhongshan Institute
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Abstract

The three-wheel omnidirectional mobile robot is an important mobile robot system structure and has the advantages of high stability and omnidirectional movement. The sliding of the wheels of the three-wheel omnidirectional mobile robot affects the positioning and control precision, and has important significance in quantitative estimation. The invention relates to a quantitative wheel slip estimation method of a three-wheeled omnidirectional mobile robot based on an encoder and a laser radar.

Description

Quantitative estimation method for wheel slip of three-wheeled omnidirectional mobile robot
Technical Field
The invention relates to a quantitative wheel slip estimation method for a three-wheeled omnidirectional mobile robot, in particular to a quantitative wheel slip estimation method for a three-wheeled omnidirectional mobile robot based on an encoder and a laser radar.
Background
The three-wheel omnidirectional mobile robot is an important mobile robot system structure and has the advantages of high stability and omnidirectional movement. The sliding of the wheels of the three-wheel omnidirectional mobile robot affects the positioning and control precision, and has important significance in quantitative estimation.
The prior art provides a wheel Slip Detection method of a mobile robot based on Classification (see Chris C.Ward, Karl Iagnemema: Classification-based wheel Slip Detection and Detection fusion for outer Mobile Robots, 2007IEEE International Conference on Robotics and analysis, 4 months 2007), and the main deficiency of the technology is that the wheel Slip cannot be quantitatively estimated.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a three-wheel omnidirectional mobile robot wheel sliding quantitative estimation method based on an encoder and a laser radar. The core of the invention is to fuse encoder, laser radar data and a three-wheel omnidirectional mobile robot forward and backward kinematics model and estimate the actual rotation movement of wheels.
The specific technical scheme is as follows:
inputting: m0,M1,
Figure GDA0003100630240000011
Wherein M is0Laser radar measurements, M, representing the previous moment1Indicating the lidar measurements at the current time,
Figure GDA0003100630240000012
representing the first wheel rotational displacement measured by the encoder,
Figure GDA0003100630240000013
representing the rotational displacement of the second wheel as measured by the encoder,
Figure GDA0003100630240000014
representing the rotational displacement of the third wheel as measured by the encoder;
and (3) outputting: s1,S2,S3In which S is1Indicating a sliding displacement of the wheel, S2Indicating a second wheel sliding displacement, S3Showing the third wheel sliding displacement;
step 1: according to
Figure GDA0003100630240000021
Calculation of equation (1)
Figure GDA0003100630240000022
Representing the position of the robot relative to the coordinate system at the previous moment calculated from the encoder measurements and the robot kinematics model,
Figure GDA0003100630240000023
representation based on encoder measurements and robotThe position of the robot relative to a coordinate system at the previous moment is calculated by the kinematic model;
Figure GDA0003100630240000024
wherein the content of the first and second substances,
Figure GDA0003100630240000025
Figure GDA0003100630240000026
wherein the content of the first and second substances,
Figure GDA0003100630240000027
indicating the orientation of the robot at the previous moment, R the wheel radius, L1Indicating the distance, L, from the geometric centre of the robot to the first and second wheels2The distance from the geometric center of the robot to the third wheel is shown, and delta represents the included angle between the line segment from the geometric center of the robot to the first wheel and the X axis of the robot coordinate system.
Step 2: calculate H0,T0；H0And T0Respectively representing the initial estimation of the rotation matrix and the translation vector of the robot relative to the coordinate system at the previous moment;
Figure GDA0003100630240000028
Figure GDA0003100630240000029
and step 3: according to H0,T0,M0,M1Calculating a rotation matrix H and a translational vector T of the robot relative to a coordinate system at the previous moment by using an iteration closest point method,
(H,T,d)＝ICP(H0,T0,M0,M1,σ) (4)
wherein ICP represents an iterative closest point method, sigma is a matching distance threshold, and d is matching precision;
and 4, step 4: according to H, T from formula (5), formula (6) and formula (7)
Figure GDA00031006302400000210
Coordinates representing the current position of the robot relative to the coordinate system at the previous moment,
Figure GDA00031006302400000211
representing the orientation of the robot at the current moment relative to the coordinate system at the previous moment;
Figure GDA0003100630240000031
Figure GDA0003100630240000032
Figure GDA0003100630240000033
wherein H2,1Element representing the second row and the first column of H, T1,1Denoted Tfirst row first column element, T2,1An element representing a second row and a first column of T;
and 5: according to
Figure GDA0003100630240000034
Computing
Figure GDA0003100630240000035
Indicating the actual rotational displacement of the first wheel,
Figure GDA0003100630240000036
indicating the actual rotational displacement of the second wheel,
Figure GDA0003100630240000037
representing the actual rotational displacement of the third wheel;
Figure GDA0003100630240000038
step 6: calculating wheel slip
Figure GDA0003100630240000039
Figure GDA00031006302400000310
Figure GDA00031006302400000311
Compared with the prior art, the invention has the beneficial effects that: the sliding displacement of each wheel of the three-wheel omnidirectional mobile robot can be quantitatively estimated.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the specific examples.
The method integrates encoder and laser radar data and a three-wheel omnidirectional mobile robot forward and backward kinematics model, and estimates the actual rotation movement of the wheels. The three-wheeled omnidirectional mobile robot is shown in fig. 1, wherein the point O is the geometric center of the robot, and OXY is the robot coordinate system. The specific technical scheme is as follows:
inputting: m0,M1,
Figure GDA00031006302400000312
Wherein M is0Laser radar measurements, M, representing the previous moment1Indicating the lidar measurements at the current time,
Figure GDA00031006302400000313
representing the first wheel rotational displacement measured by the encoder,
Figure GDA00031006302400000314
representing the rotational displacement of the second wheel as measured by the encoder,
Figure GDA00031006302400000315
representing the rotational displacement of the third wheel as measured by the encoder;
and (3) outputting: s1,S2,S3In which S is1Indicating a sliding displacement of the wheel, S2Indicating a second wheel sliding displacement, S3Showing the third wheel sliding displacement;
step 1: according to
Figure GDA0003100630240000041
Calculation of equation (1)
Figure GDA0003100630240000042
Representing the position of the robot relative to the coordinate system at the previous moment calculated from the encoder measurements and the robot kinematics model,
Figure GDA0003100630240000043
representing the orientation of the robot relative to the coordinate system at the previous moment calculated according to the encoder measurement and the robot kinematics model;
Figure GDA0003100630240000044
wherein the content of the first and second substances,
Figure GDA0003100630240000045
Figure GDA0003100630240000046
wherein the content of the first and second substances,
Figure GDA0003100630240000047
indicating the orientation of the robot at the previous moment, R the wheel radius, L1Indicating the distance, L, from the geometric centre of the robot to the first and second wheels2The distance from the geometric center of the robot to the third wheel is shown, and delta represents the included angle between the line segment from the geometric center of the robot to the first wheel and the X axis of the robot coordinate system.
Step 2: calculate H0,T0；H0And T0Respectively representing the initial estimation of the rotation matrix and the translation vector of the robot relative to the coordinate system at the previous moment;
Figure GDA0003100630240000048
Figure GDA0003100630240000049
and step 3: according to H0,T0,M0,M1Calculating a rotation matrix H and a translational vector T of the robot relative to a coordinate system at the previous moment by using an iteration closest point method,
(H,T,d)＝ICP(H0,T0,M0,M1,σ) (4)
wherein ICP represents an iterative closest point method, sigma is a matching distance threshold, and d is matching precision;
and 4, step 4: according to H, T from formula (5), formula (6) and formula (7)
Figure GDA00031006302400000410
Coordinates representing the current position of the robot relative to the coordinate system at the previous moment,
Figure GDA00031006302400000411
representing the orientation of the robot at the current moment relative to the coordinate system at the previous moment;
Figure GDA0003100630240000051
Figure GDA0003100630240000052
Figure GDA0003100630240000053
wherein H1,1Element, T, representing the first row and the first column of H1,1Denoted Tfirst row first column element, T2,1An element representing a second row and a first column of T;
and 5: according to
Figure GDA0003100630240000054
Computing
Figure GDA0003100630240000055
Indicating the actual rotational displacement of the first wheel,
Figure GDA0003100630240000056
indicating the actual rotational displacement of the second wheel,
Figure GDA0003100630240000057
representing the actual rotational displacement of the third wheel;
Figure GDA0003100630240000058
step 6: calculating wheel slip
Figure GDA0003100630240000059
Figure GDA00031006302400000510
Figure GDA00031006302400000511
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.

Claims (1)

1. A three-wheel omnidirectional mobile robot wheel sliding quantitative estimation method based on an encoder and a laser radar has the specific technical scheme that:
inputting: m0,M1,
Figure FDA0003100630230000011
Wherein M is0Laser radar measurements, M, representing the previous moment1Indicating the lidar measurements at the current time,
Figure FDA0003100630230000012
representing the first wheel rotational displacement measured by the encoder,
Figure FDA0003100630230000013
representing the rotational displacement of the second wheel as measured by the encoder,
Figure FDA0003100630230000014
representing the rotational displacement of the third wheel as measured by the encoder;
and (3) outputting: s1,S2,S3In which S is1Indicating a sliding displacement of the wheel, S2Indicating a second wheel sliding displacement, S3Showing the third wheel sliding displacement;
step 1: according to
Figure FDA0003100630230000015
Calculating by using equation (1)
Figure FDA0003100630230000016
Representing the position of the robot relative to the coordinate system at the previous moment calculated from the encoder measurements and the robot kinematics model,
Figure FDA0003100630230000017
representing the orientation of the robot relative to the coordinate system at the previous moment calculated according to the encoder measurement and the robot kinematics model;
Figure FDA0003100630230000018
wherein the content of the first and second substances,
Figure FDA0003100630230000019
Figure FDA00031006302300000110
wherein the content of the first and second substances,
Figure FDA00031006302300000111
indicating the orientation of the robot at the previous moment, R the wheel radius, L1Indicating the distance, L, from the geometric centre of the robot to the first and second wheels2The distance from the geometric center of the robot to the third wheel is represented, and delta represents the included angle between the line segment from the geometric center of the robot to the first wheel and the X axis of the robot coordinate system;
step 2: calculate H0,T0；H0And T0Respectively representing the initial estimation of the rotation matrix and the translation vector of the robot relative to the coordinate system at the previous moment;
Figure FDA00031006302300000112
Figure FDA00031006302300000113
and step 3: according to H0,T0,M0,M1Calculating a rotation matrix H and a translational vector T of the robot relative to a coordinate system at the previous moment by using an iteration closest point method,
(H,T,d)＝ICP(H0,T0,M0,M1,σ) (4)
wherein ICP represents an iterative closest point method, sigma is a matching distance threshold, and d is matching precision;
and 4, step 4: according to H, T from formula (5), formula (6) and formula (7)
Figure FDA0003100630230000021
Coordinates representing the current position of the robot relative to the coordinate system at the previous moment,
Figure FDA0003100630230000022
representing the orientation of the robot at the current moment relative to the coordinate system at the previous moment;
Figure FDA0003100630230000023
Figure FDA0003100630230000024
Figure FDA0003100630230000025
wherein H2,1Element representing the second row and the first column of H, T1,1Denoted Tfirst row first column element, T2,1An element representing a second row and a first column of T;
and 5: according to
Figure FDA0003100630230000026
Computing
Figure FDA0003100630230000027
Figure FDA0003100630230000028
Indicating the actual rotational displacement of the first wheel,
Figure FDA0003100630230000029
indicating the actual rotational displacement of the second wheel,
Figure FDA00031006302300000210
representing the actual rotational displacement of the third wheel;
Figure FDA00031006302300000211
step 6: calculating wheel slip
Figure FDA00031006302300000212
Figure FDA00031006302300000213
Figure FDA00031006302300000214
。
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