Research On Motion Control Method Of Spherical Robot Based On Vision And Inertial Sensor

As a new type of mobile robots,the smart and flexible performance of the spherical robot has attracted more attention of the researchers.And it has a wide application prospect in both production and daily life.Most of the existing spherical robots have a weak environment perception ability due to the lack of sensors to detect external environment(such as laser sensor,vision camera,etc.),so it is difficult to obtain the position,velocity and other motion parameters of the robot.Therefore,in the motion control method of spherical robots,remote control or open loop control strategy are widely used,which caused low control accuracy,cumulative errors and the weak ability to resist interference.Aiming at these above problems,this paper studies the motion control method of spherical robot based on vision camera and inertial sensors.This paper focuses on the spherical robot equipped with a vision camera and an inertial sensor.Before using these two different sensors,the rotation matrix between the camera and the inertial sensor should be calculated by calibration.After investigating the usual methods of calibration,this paper presents a new calibration method,and completes the calibration experiment.After the thorough investigation of spherical robots' research status worldwide and the method of autonomous mobile robot positioning,we propose a new type of robot motion parameters estimation algorithm in this paper based on the existing spherical robot prototype in the lab.The Kalman filter algorithm is used to fuse the information of the vision camera and inertial sensor to acquire accurate parameters estimation such as the Euler Angles,velocity and displacement of the moving robot.On the basis of obtaining accurate motion parameter estimation of the spherical robot,this paper presents a new type of robot motion control algorithm,which is based on path tracking control algorithm.Simulation experiments have been carried out by Matlab and ADAMS software to verify the performance of the algorithm,and we propose the improvement of the algorithm.On this basis,a control algorithm based on preview control is proposed.Also we carry out the simulation experiments to verify the algorithm.Aiming at the design of the motion parameter estimation algorithm and the control methods of the spherical robot,we use the spherical robot prototype which carried both vision camera and inertial sensor to complete the experiments.Through the experiments of the spherical robots' motion performance,we verify the actual performance of the proposed algorithm by analyzing the experimental data and then improve the algorithm.