CN108748135A - A kind of robotically-driven wheel skidding pose antidote and a kind of robot - Google Patents
A kind of robotically-driven wheel skidding pose antidote and a kind of robot Download PDFInfo
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- CN108748135A CN108748135A CN201810301711.0A CN201810301711A CN108748135A CN 108748135 A CN108748135 A CN 108748135A CN 201810301711 A CN201810301711 A CN 201810301711A CN 108748135 A CN108748135 A CN 108748135A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
Abstract
The invention discloses a kind of robotically-driven wheel skidding pose antidotes, including：Step S100 obtains the traveling value of robotically-driven wheel by odometer respectively according to the current driving track of robot within the sampling time；The traveling value for the robotically-driven wheel that step S200 is obtained according to the odometer obtains first angle increment and the first radian variable quantity that the robot advances within the sampling time；Step S300 obtains the second angle increment and the second radian variable quantity of the robot traveling by attitude transducer within the sampling time；The second angle increment for the robot that the first angle increment for the robot that step S400 obtains the odometer within the sampling time is obtained with the attitude transducer carries out mathematic interpolation, the result of mathematic interpolation is compared with skidding threshold value, skidding pose correction is carried out to the driving wheel of the robot according to the result of comparison.
Description
Technical field
The present invention relates to robot localization navigation field, espespecially a kind of robotically-driven wheel skidding pose antidote and one
Kind robot, a kind of computer readable storage medium, a kind of computer product.
Background technology
Odometer positioning is the pinpoint basis of AMCL algorithms in autonomous mobile robot positioning system, in positioning system
The bottom of system.If driving wheel skidding will lead to robot odometer, positioning pose has relatively large deviation, and deviation, which crosses conference, leads to AMCL
Positioning failure can not usually restore after positioning failure from failure.The present invention provides a kind of using imu sensors correction driving wheel
Method of the pose deviation generated of skidding to effectively avoid positioning from failing.
In document《A kind of experiment check method of mobile robot wheel slip》Middle proposition is a kind of to be examined with gyro-magnetic compass
The method surveyed and correct pose deviation caused by driving wheel skids.Odometer is inclined when this method counts trolley straight line moving first
The mean value and variance of the increment at boat angle are then based on statistical result detection and correction angle increment and displacement increment.This method is deposited
In many deficiencies：1, use gyro-magnetic compass as the actual value of robot direction in this method, however gyro-magnetic compass be easy by
The magnetic field that surrounding electric elements generate influences, and precision is relatively low, only 2 °, once therefore gyro-magnetic compass angle-data by magnetic field
Interference will be unable to accurately detect and skid.2, the judgement whether skidded to driving wheel in this method depends on sample, in sample
To whether occur driving wheel skidding do not claim, do not occur driving wheel skidding in sample even, then the sample cannot be correct
Reflect truth whether driving wheel skids.3, another defect is only to distinguish left and right wheels to skid in this method, is not distinguished
The direction that left and right wheels are skidded, if this will cause driving wheel to skid backward, detection is judged by accident, thus is corresponded to and used rectifying for mistake
Normal operation method causes pose deviation to increase.
Based on the problem present on, this application provides the technical solutions for solving the above technical problem.
Invention content
The object of the present invention is to provide a kind of robotically-driven wheel skidding pose antidote and a kind of robot, it can be achieved that
The pose deviation for correcting the positioning of driving wheel skidding odometer is improved and is positioned to avoid positioning failure caused by driving wheel skidding
Precision.
Technical solution provided by the invention is as follows：
A kind of robotically-driven wheel skidding pose antidote, including：Step S100 is according to the current driving rail of robot
Mark obtains the traveling value of robotically-driven wheel by odometer respectively within the sampling time；Step S200 is according to the odometer
The traveling value of the robotically-driven wheel obtained, obtains first jiao that the robot advances within the sampling time
Spend increment and the first radian variable quantity；Step S300 obtains the robot row by attitude transducer within the sampling time
Into second angle increment and the second radian variable quantity；The institute that step S400 obtains the odometer within the sampling time
The second angle increment for stating the first angle increment and the robot of attitude transducer acquisition of robot carries out
Mathematic interpolation the result of mathematic interpolation is compared with skidding threshold value, the driving according to the result of comparison to the robot
Wheel carries out skidding pose correction.
It is further preferred that the robotically-driven wheel is advanced, the state skidded includes：Step S410 judges the machine
Whether the difference of the first angle increment and the second angle increment of people's driving wheel is compared big with the skidding threshold value
In the first preset value；When more than when, execute step S411；Step S411 judges revolver and right wheel within the sampling time respectively
Whether the circular arc length of traveling is more than first preset value；Step S412 is revolver and the right side when the result that the step S411 judges
When wheel is all greater than first preset value, then the right driving wheel of the robot is skidded forward, then passes through the first correction algorithm
It is corrected；The result that step S413 judges as the step S411 is revolver and right wheel all less than first preset value
When, then the left driving wheel of the robot skids backward, then is corrected by the second correction algorithm.
It is further preferred that the robotically-driven wheel is advanced, the state skidded includes：Step S420 judges the machine
The first angle increment of people's driving wheel and the second angle increment the sum of, be compared with the skidding threshold value whether
Less than the first preset value；When less than when, execute step S421；Step S421 judges revolver and right wheel within the sampling time
Whether the circular arc length of traveling is more than first preset value；Step S422 is revolver and the right side when the result that the step S421 judges
When wheel is all greater than first preset value, then the left driving wheel of the robot skids forward, then passes through the second correction algorithm
It is corrected；The result that step S423 judges as the step S421 is revolver and right wheel all less than first preset value
When, then the right driving wheel of the robot is skidded backward, then is corrected by the first correction algorithm.
It is further preferred that the mathematical model of first correction algorithm is：
Sampling time described in Δ t--, Δ dk-- the circular arc that then Δ t time inner machines are advanced is long, Δ θkThen machine in the Δ t times
The angle step that device is advanced, Δ θimu-- the angle step then advanced by the robot that attitude transducer obtains in the Δ t times,
The wheelspan of the robotically-driven wheels of B--.
It is further preferred that the mathematical model of second correction algorithm is：
Sampling time described in Δ t--, Δ dk-- the circular arc that then Δ t time inner machines are advanced is long, Δ θkThen machine in the Δ t times
The angle step that device is advanced, Δ θimu-- the angle step then advanced by the robot that attitude transducer obtains in the Δ t times,
The wheelspan of the robotically-driven wheels of B--.
It is further preferred that the first angle increment and the first radian variable quantity include：
As Δ dL=Δ dR, Δ θk=0；It is described to work as Robot straight line moving；
As Δ dL≠ΔdR, rk=Δ dk/Δθk；It is described to work as robot non-rectilinear walking.
ΔdL-- the long increment of arc of travel of two adjacent moment revolvers, Δ dR-- the arc of travel of two adjacent moment right wheels is long
Increment；rk-- wheel shaft midpoint radius of turn；Ok(xk,yk,θk) -- pose of the robot at the k moment.
A kind of robot can apply above-mentioned robotically-driven wheel skidding pose antidote, including：Odometer, setting
Robot interior obtains the traveling value of robotically-driven wheel respectively according to the current driving track of robot within the sampling time；
The traveling value includes the rotation radian of robot left and right sidesing driving wheel；Robot interior is arranged, in the sampling in attitude transducer
According to the current driving track of robot in time, the second angle increment and the variation of the second radian that the robot advances are obtained
Amount；Central controller is communicated to connect with the odometer and the attitude transducer respectively, the machine obtained according to the odometer
The rotation radian of device people's left and right sidesing driving wheel calculates the first angle increment and the first radian variable quantity of robot traveling, and
The second angle increment and the second radian variable quantity that the robot obtained advances；By described in the first angle increment with
Two angle steps carry out difference operation, the result of mathematic interpolation are compared with skidding threshold value, according to the result of comparison to institute
The driving wheel for stating robot carries out skidding pose correction.
A kind of computer readable storage medium, including computer-readable instruction, when computer reading is described computer-readable
When instruction so that computer executes the method that can perform any description above.
A kind of computer product, including computer-readable instruction make when computer reads the computer-readable instruction
It obtains computer and executes the method that can perform any description above.
The robotically-driven wheel skidding pose antidote of one kind and a kind of robot, a kind of computer provided by the invention can
Storage medium, a kind of computer product are read, following at least one advantageous effect can be brought：
1, in the present invention, the robot traveling value got by the odometer of setting and attitude transducer is compared
Operation corrects the slipping phenomenon that robot generates in the process in traveling according to the result of comparison calculation；On the one hand by using
The yaw angular resolution of attitude transducer can reach 0.01 °, and the adjusting algorithm inside set is accurate, reduces the deviation of traveling；Separately
On the one hand, positioning failure is avoided the problem that by correcting pose deviation.
2, in the present invention, by using threshold value to determine whether having skidded, the selection of threshold value is by sampling statistics and reality
The method of verification being combined obtains, and effectively raises the reliability for distortion judgement of advancing to driving wheel, on the other hand, root
It is judged that data result, be accurately determined which driving wheel the direction that driving wheel skids so as to effectively identify is
It skids, avoids the correction algorithm for using mistake because differentiating mistake.
3, in the present invention, by the mathematical model that theorizes, the traveling value of corresponding moment robot is obtained, to correct its drive
Dynamic distortion status provides reliable data information, while algorithm is simple, easy to implement, the values such as theory deduction.
4, in the present invention, the driving wheel skidding correction algorithm of robot has been researched and developed using the method in the present invention
At being in listing state, customer feedback is good.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, a kind of robotically-driven wheel is beaten
Above-mentioned characteristic, technical characteristic, advantage and its realization method of sliding pose antidote are further described.
Fig. 1 is a kind of one embodiment flow chart of robotically-driven wheel skidding pose antidote of the present invention；
Fig. 2 is a kind of another embodiment coordinate diagram of robotically-driven wheel skidding pose antidote of the present invention；
Fig. 3 is a kind of another embodiment coordinate diagram of robotically-driven wheel skidding pose antidote of the present invention；
Fig. 4 is a kind of another embodiment flow chart of robotically-driven wheel skidding pose antidote of the present invention.
Specific implementation mode
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, control is illustrated below
The specific implementation mode of the present invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
The present invention provides a kind of one embodiment of robotically-driven wheel skidding pose antidote, with reference to 1 institute of figure
Show；Including：Step S100 obtains robot respectively by odometer according to the current driving track of robot within the sampling time
The traveling value of driving wheel；The traveling value for the robotically-driven wheel that step S200 is obtained according to the odometer obtains
The first angle increment and the first radian variable quantity that the robot advances within the sampling time；Step S300 passes through posture
Sensor obtains the second angle increment and the second radian variable quantity that the robot advances within the sampling time；Step
The first angle increment for the robot that S400 obtains the odometer within the sampling time and the posture
The second angle increment for the robot that sensor obtains carries out mathematic interpolation, by the result of mathematic interpolation and skidding threshold value into
Row compares, and skidding pose correction is carried out to the driving wheel of the robot according to the result of comparison.
Specifically, in the present embodiment, obtaining the traveling of robotically-driven wheel respectively within the sampling time by odometer
Value refers to obtaining the radian that left and right wheels rotate in the sampling time by obtaining the calibration data of left and right turns encoder, is theoretical value；
First angle increment and the first radian variable quantity be the radian rotated according to left and right wheels the two values calculate wheel shaft midpoint (
Be exactly trolley pose) angle variable quantity and displacement variable, variation is a bit of circular arc, the corresponding corresponding fan of angle change
The angle of shape, change in displacement correspond to fan-shaped arc length, combine starting point coordinate that can calculate new coordinate by this sector.Second
Angle step and the second radian variable quantity refer to be obtained by the attitude transducer on robot body, attitude transducer packet
It includesThe imu of R1371T；What attitude transducer measured is the actual pose variable quantity of robot；Detect robot
The instantaneous value of pose, including direction etc. that robot is presently in, the variation for passing through second angle increment embody；According to odometer
The first angle increment of acquisition and the difference of second angle increment and skidding threshold θthFurther mathematic interpolation, according to difference
It is worth calculating as a result, correcting the driving wheel of robot.
In the present invention, fortune is compared in the robot traveling value got by the odometer of setting and attitude transducer
It calculates, the slipping phenomenon that robot generates in the process in traveling is corrected according to the result of comparison calculation；On the one hand by using appearance
The yaw angular resolution of state sensor can reach 0.01 °, and the adjusting algorithm inside set is accurate, reduces the deviation of traveling；It is another
Aspect avoids the problem that positioning failure by correcting pose deviation.
On the basis of above example, this application provides another embodiments, with reference to shown in figure 1, Fig. 2, Fig. 3；It is described
It is robotically-driven wheel advance skid state include：Step S410 judges the first angle increment of the robotically-driven wheel
With the difference of the second angle increment, it is compared with the skidding threshold value and whether is more than the first preset value；When more than when, execute
Step S411；Step S411 judges whether the circular arc length that revolver and right wheel are advanced within the sampling time is more than described the respectively
One preset value；The result that step S412 judges as the step S411 is revolver and right wheel all greater than first preset value
When, then the right driving wheel of the robot is skidded forward, then is corrected by the first correction algorithm；Step S413 works as the step
The result that rapid S411 judges as revolver and right wheel all less than first preset value when, then the left driving wheel of the robot to
After skid, then corrected by the second correction algorithm.
Step S420 judge the robotically-driven wheel the first angle increment and the second angle increment it
With, be compared with the skidding threshold value whether be less than the first preset value；When less than when, execute step S421；Step S421 sentences
Whether the circular arc length that revolver and the right wheel within the sampling time of breaking are advanced is more than first preset value；Step S422 is when described
The result that step S421 judges as revolver and right wheel all greater than first preset value when, then the left driving wheel of the robot
It skids forward, is then corrected by the second correction algorithm；The result that step S423 judges as the step S421 as revolver with
When right wheel is all less than first preset value, then the right driving wheel of the robot is skidded backward, then is calculated by the first correction
Method is corrected.
The mathematical model of first correction algorithm is：
In sampling time described in Δ t--,；Δdk-- the circular arc that then Δ t time inner machines are advanced is long, Δ θkThen in the Δ t times
The angle step that machine is advanced, Δ θimu-- the angle then advanced by the robot that attitude transducer obtains in the Δ t times increases
Amount, the wheelspan of the robotically-driven wheels of B--.
The mathematical model of second correction algorithm is：
In sampling time described in Δ t--；Δdk-- the circular arc that then Δ t time inner machines are advanced is long, Δ θkThen in the Δ t times
The angle step that machine is advanced, Δ θimu-- the angle then advanced by the robot that attitude transducer obtains in the Δ t times increases
Amount, the wheelspan of the robotically-driven wheels of B--.
Specifically, during robot advances, theoretical traveling is got by the odometer and attitude transducer of setting
Value and real-time traveling value, there are errors with real-time traveling value for theoretical value, cause error Producing reason to generally comprise, driving wheel is beaten
Sliding or driving wheel data tracking error, repeatedly skids, and the traveling value for causing odometer to obtain of slipping up and attitude transducer obtain
The deviation of the traveling taken is increasing, therefore the phenomenon that will appear position inaccurate, is based on this, the present embodiment makes slipping phenomenon
At odometer Technique deviation corrected；In sampling time Δ t, Δ θ=Δ θodom-Δθimu, Δ θodom-- by inner
What journey meter obtained advances the angle step generated in Δ t time inner machine people, also as first angle increment；Δθimu-- then Δ t
The angle step namely second angle increment of the robot traveling obtained by attitude transducer in time；As Δ θ-θth> 0
When, if then judging Δ dR> 0, and Δ dL> 0；When meeting simultaneously, it is determined that be distorted forward, i.e., skid forward for right driving wheel, lead to
It crosses the first control mode to be corrected, namely sees formula (1)；If Δ dR< 0, and Δ dL< 0；Left driving wheel is distorted backward, to
After skid；It is corrected by the second control mode, namely sees formula (2)；Further include a kind of situation, Δ θ+θth< 0, i.e. Δ θ
<-θth；If judging Δ d againR> 0, and Δ dL> 0；When meeting simultaneously, it is determined that be distorted forward, i.e., beat forward for left driving wheel
It is sliding, it is corrected by the second control mode, namely see formula (2)；If Δ dR< 0, and Δ dL< 0；Right driving wheel is lost backward
Very, it skids backward；It is corrected by the first control mode, namely sees formula (1)；If specifically, can be summarized as | Δ θ | >
θthThen think there is driving wheel skidding to need to correct；If | Δ θ |≤θtThen think that no driving wheel skidding need not correct.
In the present invention, by using threshold value to determine whether having skidded, the selection of threshold value is by sampling statistics and experiment
The method of verification being combined obtains, and effectively raises the reliability for distortion judgement of advancing to driving wheel, on the other hand, according to
The data result of judgement accurately determines that the direction that driving wheel skids so as to effectively identify is which driving wheel is beaten
It is sliding, avoid the correction algorithm that mistake is used because differentiating mistake.
On the basis of above example, another embodiment is provided, with reference to shown in figure 1, Fig. 2, Fig. 3；In the present embodiment
In provide by odometer integral algorithm obtain robot described in first angle increment and the first radian variable quantity calculation
Method includes：Assuming that robot k, k+1 moment corresponding pose under odometer coordinate system is respectively Ok(xk,yk,θk)、Ok+1
(xk+1,yk+1,θk+1), in OkPlace and Ok+1Straight line intersection is O ' points where locating wheel shaft, shown in following 2 figure, if odometer sampling meter
Calculation frequency is 20Hz, then sampling period Δ t=tk+1-tk=50ms, the radian that left and right wheels rotate within the Δ t times is respectively Δ
dL,ΔdR, value represents driving wheel more than 0 and rotates forward, and value represents driving wheel less than 0 and rotates backward.Because the sampling time compared with
Short, it is uniform rotation that left and right sidesing driving wheel, which can be approximately considered, then pose Ok+1It is pose O that can be approximately consideredkAround O ' rotation Δs
θkIt obtains, then a length of Δ d of the circular arc of the walking of trolley in the Δ t timeskWith angle step Δ θk(counterclockwise for just) can use formula meter
It calculates approximation and obtains odometer arc model：
If Δ dL=Δ dR, then Δ θk=0, at this time O' at infinity, Robot straight line moving；
If Δ dL≠ΔdR, wheel shaft midpoint radius of turn rkCan r be calculated by following formulak=Δ dk/Δθk；
Location variation Δ x, Δ y are obtained by geometrical relationship：
Formula (3) obtains the variable quantity of x and y-axis within the Δ t times；There can be the pose O by the k momentk(xk,yk,θk) and
By ΔtThe radian Δ d that left and right sidesing driving wheel rotates after timeL、ΔdRThe pose O at k+1 moment can be calculatedk+1(xk+Δx,yk
+Δy,θk+Δθk)；ΔdkNamely the first radian variable quantity.
In the present invention, by the mathematical model that theorizes, the traveling value of corresponding moment robot is obtained, to correct its driving
Slipping state, provide reliable data information, while algorithm is simple, easy to implement, the values such as theory deduction.
The present invention also provides a kind of one embodiment of robot, with reference to shown in figure 1, Fig. 2, Fig. 3；The above institute can be applied
The embodiment for the pose antidote stated, including：Robot interior is arranged, according to robot within the sampling time in odometer
Current driving track obtains the traveling value of robotically-driven wheel respectively；The traveling value includes turning for robot left and right sidesing driving wheel
Dynamic radian；Attitude transducer, setting robot interior are obtained according to the current driving track of robot within the sampling time
The second angle increment and the second radian variable quantity for taking the robot to advance；Central controller, respectively with the odometer and
The attitude transducer communication connection is calculated according to the rotation radian for the robot left and right sidesing driving wheel that the odometer obtains
Robot advance first angle increment and the first radian variable quantity, and obtain the robot advance second angle increase
Amount and the second radian variable quantity；Difference operation will be carried out with second angle increment described in the first angle increment, by difference meter
The result of calculation is compared with skidding threshold value, and carrying out skidding pose to the driving wheel of the robot according to the result of comparison rectifys
Just.
Specifically, the robot that odometer and attitude transducer obtain in the present embodiment drives the increment generated when traveling,
In order to get the increment within the sampling time of left and right wheels, need through odometer integral and calculating, i.e. formula (3) obtains, knot
It closes formula and assumes that robot k, k+1 moment corresponding pose under odometer coordinate system is respectively Ok(xk,yk,θk)、Ok+1(xk+1,
yk+1,θk+1), in OkPlace and Ok+1Straight line intersection is O' points where locating wheel shaft, is illustrated in fig. 2 shown below, if odometer sampling calculates frequency
For 20Hz, then sampling period Δ t=tk+1-tk=50ms, the radian that left and right wheels rotate within the Δ t times is respectively Δ dL、ΔdR,
Its value represents driving wheel more than 0 and rotates forward, and value represents driving wheel less than 0 and rotates backward.Because the sampling time is shorter, left and right is driven
It is uniform rotation that driving wheel, which can be approximately considered, then pose Ok+1It is pose O that can be approximately consideredkΔ θ is rotated around O'kIt obtains, then
The a length of Δ d of the circular arc of the walking of trolley in the Δ t timeskWith angle step Δ θk；If Δ dL=Δ dR, then Δ θk=0, at this time O' exist
Infinite point, Robot straight line moving；If Δ dL≠ΔdR, wheel shaft midpoint radius of turn r can be found outk。
Driving wheel skidding correction model：
The Δ d known to odometer arc modelL、ΔdRData whether be distorted directly affect calculating pose it is whether correct,
If driving wheel does not have skidded, Δ dL、ΔdRActual value is converted on ground for driving wheel, if there is one of wheel to beat
Sliding, then wherein there are one data distortions, and determination, which is described below, is which driving wheel skids which data distortion determined
Method.We are with imu in odometer using the angle change Δ θ in the period Δ t timesimuAs the true angle of robot
Increment.
Assuming that right driving wheel has skidded, as shown in figure 3 above, AB, CF are the radian that left and right wheels turn over, and BC is two-wheeled wheel
Away from length B.If robot rotation angle Δ θimuAfterwards, it is CE that right wheel, which really rotates radian, since there are obvious CF for skidding
> CE, by geometrical relationship ∠ EAD=θimu, it is using A points as the center of circle that the length of DE, which can be approximated to be, known to odometer arc model
Δ θ is turned over by radius of ADimuCorresponding arc length afterwards, i.e. DE=B Δs θimu, therefore Δ dR=CE=AB+DE=Δs dL+ΔθimuB,
The a length of Δ d of circular arc by the walking of trolley in the Δ t times can be obtainedkWith angle step Δ θk：See formula (1)；With same reasoning side
Method can obtain a length of Δ d of circular arc of the walking of trolley in Δ t times when revolver has skiddedkWith angle step Δ θk：See formula
(2)；If can correctly judge it is which driving wheel skids to this, so that it may to be corrected using corresponding correction algorithm.
It is described below and differentiates whether skid and be the method which driving wheel skids.
It defines one and judges skidding threshold θth(assuming that θ in the present inventionth=0.002), in sampling period Δ t, odometer
Angle step with imu is respectively Δ θodom、Δθimu, wherein Δ θodomSize by Δ θ in (3) formulak≈(ΔdR-ΔdL)/B
It is calculated.The difference of both notes is Δ θ, i.e. Δ θ=Δ θodom-Δθimu,
If | Δ θ | > θthThen think there is driving wheel skidding to need to correct；If | Δ θ |≤θtThen think that no driving wheel skids
It need not correct.
If Δ θ > θth：
(1) if Δ dR> 0, and Δ dL> 0；Then right wheel is skidded forward, is corrected using formula (1).
(2) if Δ dR< 0, and Δ dL< 0；Then revolver skids backward, is corrected using formula (2).
If Δ θ <-θth：
(1) if Δ dR> 0, and Δ dL> 0；Then revolver skids forward, is corrected using formula (2).
(2) if Δ dR< 0, and Δ dL< 0；Then right wheel is skidded backward, is corrected using formula (1).
The present invention the flow based on algorithm be：It is shown in Figure 4；Imu modules are connected by Serial Port Line in robot
Position machine data communication interface writes the data in node reading serial ports by ros and parses angle, data are passed through message
Form be published to topic.Odometer node subscribes to the topic and obtains angle-data in message in real time.In odometer node
The ticking number of odometer acquired first by slave computer is converted into radian Δ dR、ΔdL, Δ d is calculated with formula (1)k、Δ
θk；Then Δ θ is calculated with formula (4), and and threshold value comparison, further judge it is which driving if having driving wheel skidding
Then the direction that wheel skids and skids uses corresponding correction algorithm；Finally with the Δ d after correctionk、ΔθkIt is calculated in conjunction with formula
Go out pose of the robot under odometer coordinate system.
The present invention also provides a kind of one embodiment of computer readable storage medium, with reference to shown in figure 1-4；Including meter
Calculation machine readable instruction, when computer reads the computer-readable instruction so that embodiment more than computer execution.
The present invention also provides a kind of one embodiment of computer product, with reference to shown in figure 1-4；Including computer-readable
Instruction, when computer reads the computer-readable instruction so that embodiment more than computer execution.
In the present invention, if being realized in the form of SFU software functional unit and selling or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, the technical solution of the application is substantially
In other words the part to the contribution of the prior art or the technical solution in whole or in part can be in the form of software products
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (but personal computer, server either network equipment) or processor execute the application embodiment the method
All or part of step.And storage above-mentioned is worth bag data server, cloud server, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), mobile communication equipment or CD,
Or USB flash disk etc. is various can be with the medium of store code.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of robotically-driven wheel skidding pose antidote, which is characterized in that including：
Step S100 obtains according to the current driving track of robot, by odometer within the sampling time robotically-driven respectively
The traveling value of wheel；
The traveling value for the robotically-driven wheel that step S200 is obtained according to the odometer, obtains the robot and exists
The first angle increment and the first radian variable quantity advanced in the sampling time；
Step S300 obtained within the sampling time by attitude transducer the second angle increment that the robot advances and
Second radian variable quantity；
Step S400 within the sampling time to the odometer obtain the robot the first angle increment with
The second angle increment for the robot that the attitude transducer obtains carries out mathematic interpolation, by the result of mathematic interpolation and beats
Sliding threshold value is compared, and skidding pose correction is carried out to the driving wheel of the robot according to the result of comparison.
2. robotically-driven wheel skidding pose antidote according to claim 1, which is characterized in that the robot drives
Driving wheel advance skid state include：
Step S410 judges the difference of the first angle increment and the second angle increment of the robotically-driven wheel, with institute
It states skidding threshold value and is compared and whether be more than the first preset value；When more than when, execute step S411；
It is pre- that step S411 judges whether the circular arc length that revolver and right wheel are advanced within the sampling time is more than described first respectively
If value；
Step S412 when the result that the step S411 judges as revolver and right wheel all greater than first preset value when, then institute
The right driving wheel for stating robot is skidded forward, then is corrected by the first correction algorithm；
Step S413 when the result that the step S411 judges as revolver and right wheel all less than first preset value when, then institute
The left driving wheel for stating robot skids backward, then is corrected by the second correction algorithm.
3. robotically-driven wheel skidding pose antidote according to claim 1, which is characterized in that the robot drives
Driving wheel advance skid state include：
Step S420 judge the robotically-driven wheel the first angle increment and the second angle increment the sum of, with
Whether the skidding threshold value is compared is less than the first preset value；When less than when, execute step S421；
Step S421 judges whether the circular arc length that revolver and right wheel are advanced within the sampling time is more than first preset value；
Step S422 when the result that the step S421 judges as revolver and right wheel all greater than first preset value when, then institute
The left driving wheel for stating robot skids forward, then is corrected by the second correction algorithm；
Step S423 when the result that the step S421 judges as revolver and right wheel all less than first preset value when, then institute
The right driving wheel for stating robot is skidded backward, then is corrected by the first correction algorithm.
4. according to any robotically-driven wheel skidding pose antidote of claim 2 and 3, which is characterized in that described
The mathematical model of first correction algorithm is：
Sampling time described in Δ t--, Δ dk-- the circular arc that then Δ t time inner machines are advanced is long, Δ θkThen Δ t time inner machines row
Into angle step, Δ θimu-- the angle step then advanced by the robot that attitude transducer obtains in the Δ t times, B-- machines
The wheelspan of device people's driving wheel.
5. according to any robotically-driven wheel skidding pose antidote of claim 2 and 3, which is characterized in that described
The mathematical model of second correction algorithm is：
Sampling time described in Δ t--, Δ dk-- the circular arc that then Δ t time inner machines are advanced is long, Δ θkThen Δ t time inner machines row
Into angle step, Δ θimu-- the angle step then advanced by the robot that attitude transducer obtains in the Δ t times, B-- machines
The wheelspan of device people's driving wheel.
6. robotically-driven wheel skidding pose antidote according to claim 1, which is characterized in that the first angle
Increment and the first radian variable quantity include：
As Δ dL=Δ dR, Δ θk=0；It is described to work as Robot straight line moving；
As Δ dL≠ΔdR, rk=Δ dk/Δθk；It is described to work as robot non-rectilinear walking.
ΔdL-- the long increment of arc of travel of two adjacent moment revolvers, Δ dR-- the long increment of arc of travel of two adjacent moment right wheels；
rk-- wheel shaft midpoint radius of turn；Ok(xk,yk,θk) -- pose of the robot at the k moment.
7. a kind of robot, which is characterized in that any robotically-driven wheel skidding poses of claim 1-6 can be applied to rectify
Correction method, including：
Odometer, setting robot interior obtain robot respectively according to the current driving track of robot within the sampling time
The traveling value of driving wheel；The traveling value includes the rotation radian of robot left and right sidesing driving wheel；
Robot interior is arranged in attitude transducer, according to the current driving track of robot within the sampling time, obtains institute
State the second angle increment and the second radian variable quantity of robot traveling；
Central controller is communicated to connect with the odometer and the attitude transducer respectively, is obtained according to the odometer
The rotation radian of robot left and right sidesing driving wheel calculates the first angle increment and the first radian variable quantity of robot traveling, with
And the second angle increment and the second radian variable quantity that the robot obtained advances；By described in the first angle increment and
Second angle increment carries out difference operation, the result of mathematic interpolation is compared with skidding threshold value, according to the result pair of comparison
The driving wheel of the robot carries out skidding pose correction.
8. a kind of computer readable storage medium, including computer-readable instruction, when computer reads the computer-readable finger
When enabling so that computer, which executes, can perform any method of claim 1~6.
9. a kind of computer product, including computer-readable instruction, when computer reads the computer-readable instruction so that
Computer, which executes, can perform any method of claim 1~6.
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| CN114911225A (en) * | 2021-02-23 | 2022-08-16 | 北京盈迪曼德科技有限公司 | Method and device for judging slippage of double-wheel differential robot |
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