Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Position error calibration of wheeled robots based on visual SLAM algorithm
| DOI: | 10.11809/bqzbgcxb2024.12.038 |
| Keywords: | visual slam algorithm; Kinect camera; wheeled robots; mileage error; error calibration |
| Abstract: | The existing methods only use mileage error as a position calibration parameter in motion position error calibration, which is difficult to meet the measurement requirements of large spatial range and high accuracy. Therefore, a position error calibration method for wheeled robots based on visual SLAM algorithm is proposed. This paper uses Kinect cameras to collect motion environment data of wheeled robots, and then uses visual SLAM algorithm to establish the robot’s environment map, in order to adapt to the measurement needs of a large spatial range and improve the accuracy and reliability of position error calibration. This paper implements calibration iteration for mileage error and visual acquisition error, and combines the calibration results of both to accurately calibrate the position error of the wheeled robot. The results show that under the control of the proposed method, the maximum position error does not exceed 10 mm in both linear and curved trajectories, which can reduce the position calibration error of wheeled robots and improve the control accuracy of motion trajectories. |
| Issue: | Vol. 45 No. 12 (2024) |
| Published: | 2024-12-30 |
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