四轮全向小车的惯性传感装置的设计

四轮全向小车因其载荷平稳和全向驱动的运动方向灵活而被广泛地应用于高性能机器人小车。为提高四轮全向小车的运动性能,设计了一套以DSP为CPU,由MENS加速度传感器、陀螺仪和电子罗盘组成的惯性传感装置。该装置体积小,价格低,结构简单,实时性好,能很好地实现小车的加速度、姿态角和角加速度的测量。此外该装置还通过小车电机的光电编码器实现里程计,以便在其后的研究中实现小车的惯性导航。

Design of an inertial sensing device for four- wheel omni-directional vehicles

Four-wheel omni-directional vehicles are applied widely in high-performance robot vehicles because of their steady loads and flexible moving directions . In order to improve the movement performance of four-wheel omni-directional vehicles, an inertial sensing device is designed with a digital signal processor as CPU , which consists of the MENS acceleration sensors, gyroscopes and electronic compasses. With the advantages of small size, low price, simple structure and good real-time performance, the device can realize the measurement of acceleration, attitude angle and angular acceleration of small robot vehicle. In addition, this device also gets the function ofspeedometer through the optical encoder of vehicle motor, so as to achieve inertial navigation of the vehicle in the later research.