The invention provides an Ackerman chassis correction method based on a laser speedometer, which comprises the following steps: S2, controlling a front wheel motor to rotate towards a first direction and rotate to a first front wheel motor angle; s3, acquiring the position of a first laser speedometer; controlling rear wheels of the robot to advance at a speed, keeping the robot to do circular motion, and obtaining the position of a second laser speedometer; acquiring a first circular motion radius according to the position of the second laser speedometer and the position of the first laser speedometer; a first front wheel steering angle is obtained according to the first circular motion radius and the wheelbase of the Ackerman chassis; acquiring a second front wheel steering angle; s6, the relation between the front wheel steering angle and the motor steering angle is obtained. According to the Ackerman chassis correction method based on the laser speedometer, the turning radius of the robot can be automatically obtained through the laser speedometer, the relation between the front wheel steering angle and the front wheel motor angle can be calculated according to the turning radius of the robot, and therefore the influence of installation errors and transmission errors can be avoided.

    本发明提供了一种基于激光里程计的阿克曼底盘矫正方法,包括:S2,控制前轮电机朝第一方向转动,并转动到第一前轮电机角度;S3,获取第一激光里程计位置;控制机器人后轮速度前进,保持机器人做圆周运动,获取第二激光里程计位置;根据第二激光里程计位置、第一激光里程计位置获取第一圆周运动半径;并根据第一圆周运动半径、阿克曼底盘的轴距获取第一前轮转向角度;获取第二前轮转向角度;S6,获取前轮转向角度与电机转向角度的关系。本发明的基于激光里程计的阿克曼底盘矫正方法,通过激光里程计可以自动获取机器人的转弯半径,并根据机器人的转弯半径可以计算出前轮转向角度与前轮电机角度的关系,从而能够避免安装误差和传动误差的影响。


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    Title :

    Ackerman chassis correction method based on laser speedometer


    Additional title:

    一种基于激光里程计的阿克曼底盘矫正方法


    Contributors:
    BAI LIN (author) / LAI SONGRUI (author) / LIU BIAO (author) / SHU HAIYAN (author) / YUAN TIANXIA (author) / ZHU TAOJIAN (author) / SHEN CHUANGYUN (author) / WANG HENGHUA (author) / FANG YINGFENG (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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