Posture algorithm for mobile robot based on ultrawide band

IF 2.3 4区计算机科学 Q2 Computer Science International Journal of Advanced Robotic Systems Pub Date : 2022-07-01 DOI:10.1177/17298806221115285

Jing Sun, Bin Xie, Wei Xiong, Qiaolong Zhang, Zhenyu Zhao

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Abstract

Inertial measurement unit or other navigation devices are used to obtain the posture information of most mobile robots based on ultrawide band. However, problems, such as zero drift, temperature drift, and error increasing with time, exist in inertial measurement unit and other navigation devices. To overcome these problems, a posture algorithm for mobile robot based on ultrawide band is proposed in this article. Real-time posture information can be obtained by the posture algorithm without using inertial measurement unit and other navigation devices. Simulated results show that the mean absolute error and root mean square error of posture angle in the global coordinate system are 0.951° and 1.169°, respectively. Both the simulated and experimental trajectories show good agreement with the ideal trajectory. The results indicate that the posture data can be obtained accurately by the posture algorithm and the accuracy can meet the requirements for most mobile robots. This article is expected to be of great guiding significance for the development of mobile robots.

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基于超宽带的移动机器人姿态算法

大多数基于超宽带的移动机器人都是通过惯性测量单元或其他导航装置来获取姿态信息。然而，惯性测量装置和其他导航装置存在着零点漂移、温度漂移、误差随时间增大等问题。为了克服这些问题，本文提出了一种基于超宽带的移动机器人姿态算法。姿态算法可以在不使用惯性测量单元和其他导航设备的情况下获得实时姿态信息。仿真结果表明，姿态角在全局坐标系下的平均绝对误差为0.951°，均方根误差为1.169°。仿真轨迹和实验轨迹均与理想轨迹吻合良好。结果表明，该姿态算法能够准确地获取姿态数据，其精度可以满足大多数移动机器人的要求。期望本文对移动机器人的发展具有重要的指导意义。

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来源期刊

International Journal of Advanced Robotic Systems ROBOTICS-

CiteScore

6.50

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.