共查询到20条相似文献,搜索用时 93 毫秒
1.
里程计使用编码器为轮式移动机器人提供基本的位姿估计,在运行过程中里程计存在严重的误差累计,通过校核系统参数可以减小系统误差,UMBmark方法是轮式移动机器人广泛使用的系统误差校核方法。针对UMBmark方法存在的不足,提出一种改进的系统误差校核新方法:综合考虑三种主要系统误差来源产生的误差对移动机器人直线运动和定点旋转运动造成的影响,同时采用正方形回路终点的方向误差代替传统UMBmark方法中的位置误差来校核系统参数。实验结果表明提出的方法能够有效校核系统参数,提高移动机器人的定位精度。 相似文献
2.
针对足球机器人自定位问题,提出一种融合测程法与视觉信息的定位方法.方法综合考虑两种信息的特点,有效实现优势互补:一方面,针对视觉定位易出现的歧义,利用测程法获得的定位结果予以有效消解;另一方面,随着运动,测程法定位易出现误差的累积,利用消歧后的视觉定位结果加以动态修正.最后,在Webots模拟平台上进行的机器人球场定位实验表明文中方法的有效性. 相似文献
3.
4.
5.
舰船燃机中冷器可以改善其变工况性能,所以中冷器的质量对舰船有效载荷有影响.但目前中冷器优化多采用简单进化算法且约束条件多采用公式拟合致使误差较大,无法得到最优解.为了提出可行的设计优化中冷器算法,对板翅式换热模块采用效率-传热单元数法建立性能校核程序,随后研究全局及局部搜索能力俱佳的改进Alopex(Algorithms of patternextraction)进化算法,并将优化算法与性能校核过程结合,开发新的中冷器芯体质量、效率和热侧压降的多目标混合优化设计程序.数值优化结果表明,改进混合算法能够得到比SGA(简单遗传算法)和简单Alopex算法更优的设计结果.结果证明,改进方法能够为中冷器进一步优化设计提供参考. 相似文献
6.
7.
阐述了模型校核的意义和作用.对模型校核问题进行了研究.对属于模型校核范畴的仿真中的系统状态不连贯问题的基本概念、产生原因、存在和表现形式进行了说明.指出,解决系统状态不连贯问题的关键是以要求的精确度检测到系统状态不连贯的发生.分析了已有的解决系统状态不连贯问题的三种方法,并进行了优、缺点分析.提出了一种新方法一预测法.利用上述方法,最多进行两步最小步长仿真,就能够以要求的精确度检测到任何一个系统状态不连贯.针对系统状态不连贯问题的两个实例,具体应用了预测法. 相似文献
8.
介绍了基于AT89C2051微处理器的机器人自定位模块的设计方法.为了解决用到的测程法存在无界累计误差的问题,将光电开关测得的信息与电子罗盘测得的角度信息进行融合,提高了定位的精度.通过硬件和软件的设计及具体实现证明了该方法的可行性和很好的鲁棒性. 相似文献
9.
10.
11.
Reza HoseinNezhad Behzad Moshiri Mohammad Reza Asharif 《Journal of Intelligent and Robotic Systems》2003,36(1):89-108
This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods, usually require explicit measurement of actual motion of the robot. Some recent methods, use the smart encoder trailer or long range finder sensors such as ultrasonic or laser range finders for automatic calibration. Manual measurement is necessary in the case of the robots that are not equipped with long range detectors or such smart encoder trailer. Our proposed approach, uses an environment map that is created by fusion of proximity data, in order to calibrate the odometry error automatically. In the new approach, the systematic part of the error is adaptively estimated and compensated by an efficient and incremental maximum likelihood algorithm. Actually, environment map data are fused with the odometry and current sensory data in order to acquire the maximum likelihood estimation. The advantages of the proposed approach are demonstrated in some experiments with Khepera robot. It is shown that the amount of pose estimation error is reduced by a percentage of more than 80%. 相似文献
12.
For a mobile robot, odometry calibration consists of the identification of a set of kinematic parameters that allow reconstructing the vehicle's absolute position and orientation starting from the wheels' encoder measurements. This paper develops a systematic method for odometry calibration of differential-drive mobile robots. As a first step, the kinematic equations are written so as to underline linearity in a suitable set of unknown parameters; thus, the least-squares method can be applied to estimate them. A major advantage of the adopted formulation is that it provides a quantitative measure of the optimality of a test motion; this can be exploited to drive guidelines on the choice of the test trajectories and to evaluate accuracy of a solution. The proposed technique has been experimentally validated on two different mobile robots and, in one case, compared with other existing approaches; the obtained results confirm the effectiveness of the proposed calibration method. 相似文献
13.
14.
This paper presents both the theory and the experimental results of a method allowing simultaneous robot localization and
odometry error estimation (both systematic and non-systematic) during the navigation. The estimation of the systematic components
is carried out through an augmented Kalman filter, which estimates a state containing the robot configuration and the parameters
characterizing the systematic component of the odometry error. It uses encoder readings as inputs and the readings from a
laser range finder as observations. In this first filter, the non-systematic error is defined as constant and it is overestimated.
Then, the estimation of the real non-systematic component is carried out through another Kalman filter, where the observations
are obtained by two subsequent robot configurations provided by the previous augmented Kalman filter. There, the systematic
parameters in the model are regularly updated with the values estimated by the first filter. The approach is theoretically
developed for both the synchronous and the differential drive. A first validation is performed through very accurate simulations
where both the drive systems are considered. Then, a series of experiments are carried out in an indoor environment by using
a mobile platform with a differential drive. 相似文献
15.
一种有效的移动机器人里程计误差建模方法 总被引:1,自引:0,他引:1
移动机器人里程计误差建模是研究移动机器人定位问题的基础. 现有的移动机器人里程计误差建模方法多数针对某一种驱动类型移动机器人设计, 运动过程中缺乏对里程计累计误差的实时反馈补偿, 经过长距离运动过程定位精度大幅度降低. 因此本文针对同步驱动和差动驱动轮式移动机器人平台提出了一种通用的里程计误差建模方法. 在假设机器人运动路径近似弧线基础上, 依据里程计误差传播规律推导了非系统误差、系统误差与里程计过程输入之间的近似函数关系, 进而提出一种具有闭环误差实时反馈补偿功能的移动机器人定位算法, 对定位过程中产生的里程计累计误差给予实时反馈补偿. 实验表明新算法有效地减少了里程计累计误差, 提高了定位精度. 相似文献
16.
Boyan Bonev Miguel Cazorla Francisco Martín Vicente Matellán 《Applied Intelligence》2012,36(1):136-147
In the present paper we describe an efficient and portable optimization method for calibrating the walk parameters of a quadruped
robot, and its contribution for the robot control and localization. The locomotion of a legged robot presents not only the
problem of maximizing the speed, but also the problem of obtaining a precise speed response, and achieving an acceptable odometry
information. In this study we use a simulated annealing algorithm for calibrating different parametric sets for different
speed ranges, with the goal of avoiding discontinuities. The results are applied to the robot AIBO in the RoboCup domain.
Moreover, we outline the relevance of calibration to the control, showing the improvement obtained in odometry and, as a consequence,
in robot localization. 相似文献
17.
Safaa Amin Andry Tanoto Ulf Witkowski Ulrich Rückert M. Saied Abdel-Wahab 《Robotics and Autonomous Systems》2009,57(10):1042-1047
This paper presents empirical results of the effect of the global position information on the performance of the modified local navigation algorithm (MLNA) for unknown world exploration. The results show that global position information enables the algorithm to maintain 100% success rate irrespective of initial robot position, movement speed, and environment complexity. Most mobile robot systems accrue an odometry error while moving, and hence need to use external sensors to recalibrate their position on an ongoing basis. We deal with position calibration to compensate the odometry error using the global position information provided by the Teleworkbench, which is a teleoperated platform and test bed for managing experiments using mini-robots. In this paper we demonstrate how we incorporate the global position information during and after the experiments. 相似文献
18.
《Robotics and Autonomous Systems》2007,55(9):685-692
Wheel odometry is a common method for high resolution relative localisation. However, wheel odometry relies on the integrity and accuracy of a kinematic model. In this paper, a new method for relative localisation, ‘visiodometry’, which does not rely on a kinematic model, is proposed. The system consists of two ground-facing cameras mounted on either side of the robot. From the sequence of images acquired, the relative change in pose of the robot is estimated using a phase correlation based method. Results on a plain coloured carpeted surface, show that the method provides a truly odometric type sensor data input similar in modality and resolution to wheel odometry. A method to calibrate the visiodometry system using a 1D object is also presented. 相似文献
19.
W. Krüger 《Machine Vision and Applications》1999,11(4):203-212
One method to detect obstacles from a vehicle moving on a planar road surface is the analysis of motion-compensated difference
images. In this contribution, a motion compensation algorithm is presented, which computes the required image-warping parameters
from an estimate of the relative motion between camera and ground plane. The proposed algorithm estimates the warping parameters
from displacements at image corners and image edges. It exploits the estimated confidence of the displacements to cope robustly
with outliers. Knowledge about camera calibration, measuremts from odometry, and the previous estimate are used for motion
prediction and to stabilize the estimation process when there is not enough information available in the measured image displacements.
The motion compensation algorithm has been integrated with modules for obstacle detection and lane tracking. This system has
been integrated in experimental vehicles and runs in real time with an overall cycle of 12.5 Hz on low-cost standard hardware.
Received: 23 April 1998 / Accepted: 25 August 1999 相似文献
20.
The three-dimensional reconstruction of plants using computer vision methods is a promising alternative to non-destructive metrology in plant phenotyping. However, diversity in plants form and size, different surrounding environments (laboratory, greenhouse or field), and occlusions impose challenging issues. We propose the use of state-of-the-art methods for visual odometry to accurately recover camera pose and preliminary three-dimensional models on image acquisition time. Specimens of maize and sunflower were imaged using a single free-moving camera and a software tool with visual odometry capabilities. Multiple-view stereo was employed to produce dense point clouds sampling the plant surfaces. The produced three-dimensional models are accurate snapshots of the shoot state and plant measurements can be recovered in a non-invasive way. The results show a free-moving low-resolution camera is able to handle occlusions and variations in plant size and form, allowing the reconstruction of different species, and specimens in different stages of development. It is also a cheap and flexible method, suitable for different phenotyping needs. Plant traits were computed from the point clouds and compared to manually measured reference, showing millimeter accuracy. All data, including images, camera calibration, pose, and three-dimensional models are publicly available. 相似文献