机器人室内运动轨迹修正控制算法

移动机器人在室内的应用提升了人们的工作效率和生活品质，但针对移动机器人室内运动轨迹漂移误差，产业界一直没有较好的解决办法。为了在室内环境下实现机器人运动轨迹的高精度控制，本文结合基于LiDAR搭建的SLAM （simultaneous localization and mapping）功能模块，提出了一种机器人室内测图运动轨迹PID反馈修正控制方法，利用机器人的运动姿态、位置及设计轨迹的偏差设计了闭环模式的轨迹修正控制算法，显著提高了机器人室内作业的轨迹精度。针对机器人室内运动的几种典型轨迹，通过大量的机器人室内测图运动轨迹测试，进一步优化算法中的机器人运动控制参数，有效地减小了移动机器人室内运动轨迹的偏移。相对于依靠里程计定位的机器人室内运动控制系统，修正算法充分利用了激光雷达的定位定姿信息，满足了室内测图需求，得到了具备高可靠性和高稳定性的机器人室内精确运动控制方案。

Robots' Indoor Trajectory Correcting and Controlling Algorithm

The application of indoor mobile robots has greatly improved people' s working efficiency and lifestyle,but there is still no absolute solution for robots' indoor motion trajectory deviations.In order to enable mobile robots move precisely on preset trajectory for indoor mapping,based on the realization of SLAM( simultaneous localization and mapping) algorithm,this paper proposes significantly improve the trajectory precision with a novel PID feedback control model, which utilizes robots' attitude, position and trajectory deviation information to formulate a closed-loop control algorithm.Aiming at several typical trajectories of robot indoor motion,we carry out a large number of trajectory deviation tests,further optimize the robots' motion control parameters of the algorithm,and effectively reduce the indoor mobile robots' trajectory deviations. Compared to the indoor robot motion control system which only relies on the odometer,the modified algorithm makes full use of the location information of the laser radar, not only meet the demands of indoor mapping,but also obtain an accurate robots indoor-motion control scheme which has high reliability and stability.