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基于互补滤波算法的移动机器人姿态检测
Alternative TitleAttitude Detection of Mobile Robot Based on Complementary Filter Algorithm
符秀辉; 赵茂鑫; 周文俊
Department机器人学研究室
Source Publication测控技术
ISSN1000-8829
2015
Volume34Issue:6Pages:31-33
Indexed ByCSCD
CSCD IDCSCD:5446775
Contribution Rank1
Funding Organization国家自然科学基金资助项目(51375477)
Keyword陀螺仪 加速度计 互补滤波算法 机器人姿态
Abstract移动机器人的姿态检测能够反映出机体相对于路面的实时姿态,有利于机器人对行进过程中的当前姿态做出相应的控制。针对移动机器人姿态检测的要求,采用MEMS陀螺仪和加速度计对移动机器人在移动过程中相对于路面的姿态倾角进行测量并通过互补滤波算法对其测量的角度进行解算。互补滤波算法将加速度计静态特性和陀螺仪动态特性有效融合到一起,并对互补滤波算法进行了微分处理,提高了系统的动态特性,计算量小,从而实现对机器人行进过程的路面起伏状况进行实时测量。
Other AbstractAttitude detection of a mobile robot can reply the real-time attitude of the body relative to the ground, which is helpful for the robot to make the corresponding action for the current attitude in the moving process. In order to meet the requirements of the mobile robot' s attitude detection, MEMS gyroscope and aecel- erometer are used to measure the mobile robot' s attitude angle relative to the ground and the complementary filter algorithm is used to calculate the measured attitude angle. The complementary filtering algorithm com- bines the static character of the accelerometer and the dynamic character of the gyroscope effectively. Differen- tiation processing is used to improve the dynamic character of the system and it has a small amount of calcula- tion, which makes the real-time measurement of rough-roads in the process of robot's moving come true.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16920
Collection机器人学研究室
Affiliation1.沈阳化工大学信息工程学院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
符秀辉,赵茂鑫,周文俊. 基于互补滤波算法的移动机器人姿态检测[J]. 测控技术,2015,34(6):31-33.
APA 符秀辉,赵茂鑫,&周文俊.(2015).基于互补滤波算法的移动机器人姿态检测.测控技术,34(6),31-33.
MLA 符秀辉,et al."基于互补滤波算法的移动机器人姿态检测".测控技术 34.6(2015):31-33.
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