Application of multi-sensor data fusion technology in orientation angle control of wheeled robots

WU Zhen-yu; LI Hang; FENG Lin; DU Meng

doi:10.13873/j.1000-97872011.07.049

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Application of multi-sensor data fusion technology in orientation angle control of wheeled robots

更新时间：2025-09-11

- Application of multi-sensor data fusion technology in orientation angle control of wheeled robots
- Vol. 30, Issue 7, Pages: 140-142+145(2011)
- 作者机构：
  
  大连理工大学创新实验学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.07.049
  CLC： TP242.1
- Published：2011
- 稿件说明：
移动端阅览
[1]吴振宇,李航,冯林,杜猛.多传感器数据融合在轮式机器人朝向角控制中的应用[J].传感器与微系统,2011,30(07):140-142+145.

WU Zhen-yu, LI Hang, FENG Lin, et al. Application of multi-sensor data fusion technology in orientation angle control of wheeled robots[J]. 2011, 30(7): 140-142+145.
[1]吴振宇,李航,冯林,杜猛.多传感器数据融合在轮式机器人朝向角控制中的应用[J].传感器与微系统,2011,30(07):140-142+145. DOI： 10.13873/j.1000-97872011.07.049.

WU Zhen-yu, LI Hang, FENG Lin, et al. Application of multi-sensor data fusion technology in orientation angle control of wheeled robots[J]. 2011, 30(7): 140-142+145. DOI： 10.13873/j.1000-97872011.07.049.

摘要

针对轮式全向移动机器人运动时容易产生朝向角偏差这一问题

分析了轮式全向移动机器人的运动模型

对当前普遍采用的仅依靠编码器反馈的朝向角控制方法进行改进

将MEMS陀螺仪和数字罗盘应用到机器人系统中

提出了基于多传感器数据融合的朝向角控制方法

提高了朝向角的控制精度。通过实验数据和在机器人足球比赛中的实际表现

证明了该方法的优势。

Abstract

The orientation angle error is inevitable when wheeled omnidirectional mobile robots move.In view of this situation

the motion model of the wheeled omnidirectional mobile robot is analyzed

and a new method based on multi-sensor data fusion technology with the MEMS gyroscope and digital compass is introduced.The traditional orientation angle control method which only relying on encoders and the control precision is improved.The advantages of the new method have been proved by experimental data in labs and the performance in soccer-like games.

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references

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国际机器人足球比赛及其相关技术 [J]. 李实,徐旭明,叶榛,孙增圻. 机器人 . 2000(05)

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航空仪表[M]. 科学出版社 , 王成豪主编, 1992

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