Research on Compensation of Deviation Angle Error in Mobile Robot Travel
To solve the problem of trajectory accuracy deviation caused by lateral deviation angle error in mobile robot's movement during operation,a lateral deviation angle error compensation method based on robot operating system for mobile robots is proposed.This method corrects the IMU sensor gyroscope angular velocity information through Kalman Filtering and outputs quaternion information,which is then converted into yaw angle and combined with Kalman Filtering algorithm to perform real-time correction of the mobile robot attitude information.Experiments were conducted based on the compensation algorithm,and the data showed that this method can significantly improve the accuracy of the mobile robot's travel trajectory,meeting the accuracy compensation of the mobile robot's travel offset angle error.
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