Research on Robot Step Control Based on Double Threshold Error Compensation in Laser Ranging
In the process of robot step control,the pulse echo signal of the laser sensing ranging module can cause errors in the laser ranging threshold under external interference,which reducesthe accuracy of robot step control.In order to improve the accuracy of robot step control,a robot step control method based on laser ranging dual threshold error compensation is proposed.By analyzing the interaction characteristics of each module in the robot step control structure,the causes of threshold error are analyzed.Position data is obtained through laser measurement technology,double thresholds are set for the front edge signal of the laser pulse echo,and the single threshold error of the laser pulse echo signal time is compensated for.The dangerous and safe areas are divided in the direction of robot movement,the compensation of threshold error is completed in robot obstacle avoidance step control,and robot step control is achieved.The experimental results show that the designed method reduces the threshold error in laser ranging and maintains it at[-3 mm,+2 mm].The errors in controlling the robot's heading angle and movement speed are 0.016 rad and 0.03 m/s,respectively.The rotation speed error is minimal,which effectively improves the accuracy of step control.
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