面向轮式机器人导航的电机编码器信号解析-信息工程学院-上海海事.PDFVIP

1 第x 卷 面向轮式机器人导航的电机编码器信号解析 1 1 1 2 朱锦顺 ，孙作雷 ，曾连荪 ，张波 （1.上海海事大学信息工程学院，上海 201306 ；2. 中国科学院上海高等研究院，上海 201210） 摘要：为满足低成本轮式移动机器人平台的导航需求，提出仅依靠增量式编码器信号解析相对运动的算法框架。基 于双重条件校验，使用微控制器的外部中断辨识并记录编码器有效脉冲，监测编码器的双路信号逻辑判定轮子转向； 通过对四驱刚体质点的适当等效，推导具有普适性的短时运动模型，并通过运动合成扩展到长时动作上。实地实验 验证了算法的性能。本算法为移动机器人的位姿估算提供了新思路。 关键词：电机编码器；移动机器人；数据解析；相对运动 中图分类号： 文献标志码：A 文章编号： Motor Encoder Signal Parsing for Wheel-Based Robot Navigation 1 1 1 2 ZHU Jinshun , SUN Zuolei , ZENG Liansun , ZHANG Bo (1. College of Information Engineering, Shanghai Maritime University, Shanghai 201306, China; 2. Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China) Abstract: To meet the navigation requirement of low-cost wheel-based mobile robot platform, an algorithm framework, parsing robot relative motion only employing the signals emitted from the incremental encoders, is proposed; By validating the two conditions, the encoder pulses are identified and counted with MCU’s external interruptions, and the wheel rotate direction is determined via the logic status evaluation of the encoder’s two channel signals; And selecting the equivalent particle of the four-wheel-drive rigid body properly makes the derivation of the general short-term motion model feasible; Furthermore, the motion model is extended to long-term motions. The performance of the proposed algorithm is finally demonstrated by field test. The algorithm can be treated as a novel solution to the pose estimate for mobile robot. Key words: motor encoder; mobile robot; data parsing; relative motion 在移动机器人导航领域，基于里程计 （Od