便携式移动机器人姿态解算方法

本文根据便携式移动机器人的特点,采用四元数法解算机器人导航系统的姿态,避免了在机器人运动角度较大时出现奇异点的问题。文中应用改进的四阶龙格-库塔算法解算四元数微分方程,经仿真实验,精度完全能够达到要求。给出了合理的变换公式,在机器人运动范围内,满足了四元数与欧拉角之间转换的一一对应。

Base on the characteristic of portable mobile robot, this paper adopts quaternion implementation to update the attitude of the robot.The solution of the differential equation is obtained by four-order Runge-Kutta.The simulation proved this method can ab-solutely meet the needs of the accuracy of the mobile robot.Given reasonable transform expressions, makes quaternion implementation and the euler angles corresponding in the range of robot moving.

国家863计划MEMS重大专项项目"面向服务机器人的MEMS传感器集成化应用研究"(2005AA404290-1)