| This thesis mainly researches the error analysis and correction of the navigation for the area-covering mobile robot. Navigation is the core technology of the area-covering mobile robot, which includes multi-sensor information fusion, location and complete coverage path plan. At present, many methods of multi-sensor information fusion and complete coverage path plan are proposed. However, the effect of application is not as great as expected because of various errors. So the error analysis and correction of the navigation is very import.This thesis, based on an area-covering mobile robot named ZIMROB, is focus on the basic complete coverage problem. The errors of navigation are divided into three aspects. That is the error caused by sensors, the error from mechanical system and the error caused by complicated environment. The error caused by sensors is from the encoder and the digital compass which has three dimensions. A circuit is designed to avoid the false count of encoder when it vibrates and the M/T method is proposed to measure the speed of wheels. The digital compass LP3300-232 has its own correction program which can only satisfy the common applications. So the method of least squares is used to make a further correction. The error from mechanical system includes the error of drive system and the size and installation error of the driving wheels. A measurement system is introduced to measure, analyze and correct the error of drive system. The UMBmark method is used to correct the main error from driving wheels. That is the different diameter and the uncertain of the distance between the two driving wheels. In this paper, a method based on the encoder and the digital compass is proposed to detect and correct the slippage error. This method is effective on rectilinear motion and rounding-out motion which the rounding center is out of the wheel axle, but not effective on rounding-on motion which the rounding center is on the wheel axle. |
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