摘要
为准确获得移动机器人在未知环境的运动状态信息,以提高其运动控制的可靠性与平稳度,本文设计了机器人运动状态的检测传输系统。该系统运用改进的自适应UKF滤波算法来处理双轴MEMS陀螺仪测得的数据,通过以ATmega16为微处理器的CAN总线进行传输。实验表明,改进算法能较好地控制MEMS陀螺仪的随机漂移,较正确地获得机器人的运动状态数据,且CAN总线使数据正确率提高0.3%～0.5%。
The motion detection system for mobile robot is designed in order to accurately obtain robot motion states, in unknown environments, so as to enhance the reliability and smoothness. Dual - axis MEMS gyro Data is processed by the improved UKF algorithm. Processed data is transferred by CAN bus based on ATmega16. Experimental results show that this algorithm decreases the Gyro random drift error and accurately obtains motion state information. Correct rate of communication is improved by 0.3%-0.5%.
出处
《单片机与嵌入式系统应用》
2010年第10期65-67,共3页
Microcontrollers & Embedded Systems
基金
西南科技大学研究生创新基金资助(09ycjj06)
四川省教育厅科研基金(07ZA175)
