Luận văn thạc sĩ Kỹ thuật điều khiển và tự động hóa: Cải thiện độ chính xác hệ thống định vị cho robot di động dựa trên phương pháp hợp nhất nhiều cảm biến

ABSTRACT The project focuses on researching and implementing solutions to improve the accuracy of the positioning robot system, by pairing multiple sensors together through the extended

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¯ዒ‰–ዠŠŠ ˜ዔ‹…ž…Ž‘኶‹ …኷„‹ዅŠዛ: Encoder, IMU, UWB, Lidar

ዌ…‹ዉ኷‹—ŸǡŽ¯ዓ˜ዋዓ‹–Ø‹…ؐ‰–ž…ǡ¯ Ž—ؐ–኶‘¯‹዆—‹ዉǡ‰‹ï’¯዗

Šዅ–•ዜ…–”‘‰•—ዎ–“—ž–”¿Š–Ø‹…ؐ‰–ž…–኶‹¯ዓ˜ዋǡ…ñ‰ŠዛŠዌ…–ኼ’–኶‹–”ዛዕ‰0኶‹Šዌ…ž…ŠŠ‘ƒǤ

Vϰϯ$

—ኼ˜£–ኼ’–”—‰˜‘ ‰Š‹²…ዜ—˜–”‹዇hai ዒ–‰‹኷‹’Šžp ¯዇Ÿ‰…ƒ‘¯ዒ…ŠÀŠšž……Š‘Šዉ–Šዎ‰¯ዋŠ˜ዋ”‘„‘– †‹¯ዒ‰ǡ„ኾ‰…ž…Š–Šዜ…Šዘ’Šኸ–

Š‹዆—…኷„‹ዅ˜ዔ‹Šƒ—–ŠØ‰“—ƒ„ዒŽዌ…ƒŽƒ ዖ”ዒ‰ȋ ȌǤ

ዉ –Šዎ‰ ¯ዛዘ… Ø Š¿Š Š×ƒǡ ¯žŠ ‰‹ž –Šዞ ‰Š‹ዉ –”² Ø ’Šው‰ simulin…ዚƒƒ–Žƒ„; ’›–Š‘˜¯ዛዘ…–”‹዇Šƒ‹–”²Šዉ–Šዎ‰ž›–ÀŠŠï‰Linux ዖ–ኹ‰¯‹዆—Š‹዇n High Level ˜͵ʹ ͶͲͷዖ–ኹ‰‘™Ž‡˜‡ŽǤ

ØŠ¿Š¯ዛዘ…–Šዠ…‰Š‹ዉŽ‘„‘–†‹¯ዒ‰‹዇—˜‹•ƒ‹ǡ¯ዛዘ…¯‹዆—Š‹዇

„ኾ‰„ዒ¯‹዆—Š‹዇ ǡ•ዞ†ዙ‰…ž……኷„‹ዅŠዛ…‘†‡”ǡ9250, UWB, Lidar cho bài toán EKF FusionǤ‰Öƒ”ƒ…኷„‹ዅLidar …֐•ዞ†ዙ‰ cho ¯‹዆—

Šዛዔ‰†‹…Š—›዇ǡ–”žŠ˜ኼ–…኷

ABSTRACT

The project focuses on researching and implementing solutions to improve the accuracy of the positioning robot system, by pairing multiple sensors together through the extended Kalman filter (EKF)

The system is modeled, evaluated on the matlab's simulation of the link; python and it are implemented on a Linux embedded computer system

on the controller upper layer and the STM32F405 MCU on the Low layer

The model done is robot dynamic differential, controlled by PID control, using sensors such as Encoder, MPU9250, UWB, Lidar for the EKF Fusion problem In addition, Lidar Sensor is also used to guide the way, avoid obstacles

Šኼ„ኾ‰…ኸ’ዖŠዟ‰ዓ‹Šž…Ǥ

ዅ—’Šž–Š‹ዉ…ׄኸ–ü•ዠ‰‹ƒŽኼ‘ǡ–Ø‹š‹Š‘–‘…Šዋ—–”ž…Šnhiዉ˜዆ዒ‹†—‰Ž—ኼ˜£…ዚƒ¿ŠǤ”ዛዕ‰¯኶‹Šዌ…ž…ŠŠ‘ƒ’ǤዏŠÀMình khôn‰Ž‹²“—ƒ¯ዅŠዟ‰˜‹’Š኶ȋዅ—…×Ȍ˜዆–ž…“—›዆ǡ„኷“—›዆

†‘–Ø‹‰Ÿ›”ƒ–”‘‰“—ž–”¿Š–Šዠ…Š‹ዉǤ

’ǤዏŠÀ‹Šǡ ngày 20 –Šž‰Ͳͺ£ʹͲʹͲ

‰Ø0£‰‹Чn

MЌЌ

Šዛዓ‰ͳ 1

ͳǤͳǤ0዁–˜ኸ¯዆ 1

ͳǤʹǤÀŠ…ኸ’–Š‹ዅ– 2

1.3 NŠዟ‰‰Š‹²…ዜ—Ž‹²“—ƒ 3

ͳǤͶǤዙ…–‹²—‰Š‹²…ዜ— 7

ͳǤͷǤ0ዎ‹–ዛዘ‰˜’Š኶˜‹‰Š‹²…ዜ— 7

ͳǤ͸Ǥኸ—–”ï……ዚƒ—ኼ˜£ 7

Šዛዓ‰ʹ 9

እከzኗ 9

ʹǤͳǤØŠ¿Š–‘ž…ዚƒŠዉ–Šዎ‰‘„‘– 9

2.1.1 Mô Š¿Š¯ዒ‰Šዌ……ዚƒ‘„‘– 9

ʹǤͳǤʹǤØŠ¿Š¯ዒ‰Šዌ……ዚƒ¯ዒ‰…ዓ¯‹ዉዒ–…Š‹዆—ȋ‘–‘”Ȍ 11

ʹǤʹǤዐ‰Šዘ’…኷„‹ዅ„ኾ‰„ዒŽዌ…ƒŽƒዖ”ዒ‰ 13

ʹǤʹǤͳǤý–Š—›ዅ–„ዒŽዌ…ƒŽƒዖ”ዒ‰ȋ Ȍ 13

ʹǤʹǤʹǤኮ‰†ዙ‰„ዒŽዌ… ˜‘ØŠ¿Š‘„‘– 15

Šዛዓ‰͵ 20

͵ǤͳǤዐ‰“—ƒ˜዆ØŠ¿Š˜–Š‹ዅ–„ዋ•ዞ†ዙg trong Robot 20

͵ǤʹǤŸ›†ዠ‰„ዒ¯‹዆—Š‹዇…Š‘”‘„‘– 22

͵ǤʹǤͳǤŠኼ†኶‰Š–”—›዆¯ዒ‰…ዓ 22

3.ʹǤʹǤዠƒ…Šዌ–Šƒ•ዎ …Š‘¯ዒ‰…ዓ 22

͵ǤʹǤ͵Ǥ0žŠ‰‹ž¯ž’ዜ‰…ዚƒ¯ዒ‰…ዓዖ…ž…¯‹዆—‹ዉŠž…Šƒ— 25

͵Ǥ͵ǤÀŠ–‘ž‰×…›ƒ™…Š‘‘„‘––ዝ ͻʹͷͲ 27

͵ǤͶǤŠኼ‰‹ž–”ዋ˜ዋ–”À…Š‘‘„‘––ዝͳͲͲͳ 29

͵ǤͷǤÀŠ–‘ž˜ዋ–”À˜Šዛዔ‰ƒ™…Š‘‘„‘––ዝ„‹ዅ‹†ƒ” 30

ͶǤͳǤØ’Šው‰ØŠ¿Š‘„‘– 32

ͶǤͳǤͳǤዓ¯ዏ‹—Ž‹…ዚƒ‘„‘– 32

ͶǤͳǤʹǤ0žŠ‰‹žØŠ¿ŠØ’Šው‰˜ØŠ¿Š–Šዠ…–ዅ…ዚƒ”‘„‘– 33

ͶǤʹǤØ’Šው‰“—ž–”¿ŠŠዘ’Šኸ–†ዟŽ‹ዉ—˜ዔ‹„ዒŽዌc EKF 37

ͶǤʹǤͳǤŸ›†ዠ‰…Šዛዓ‰–”¿ŠØ’Šው‰ 37

ͶǤʹǤʹǤ ˜ዔ‹’Š±’¯‘–ዝƒ‰ 38

ͶǤʹǤ͵Ǥ ˜ዔ‹’Š±’¯‘‰×…›ƒ™–ዝ  39

ͶǤʹǤͶǤ ˜ዔ‹’Š±’¯‘-Theta 42

ͶǤ͵Ǥዅ–Ž—ኼ’ŠኹØ’Šው‰Šዉ–Šዎ‰ 43

ͷǤͳǤ‹዇–”ƒŠ‹ወ—˜¯ዒ–”Ø‹‰×…›ƒ™–ዝͻʹͷͲ 44

ͷǤͳǤͳǤ‹዇–”ƒ¯ዒ …ŠÀŠšž……ዚƒ 44

ͷǤͳǤʹǤ‹዇–”ƒ•ዠ…ŠÀŠšž…˜¯ዒ‹–”Ø‹‰×…›ƒ™…ዚƒ  46

ͷǤʹǤ”‹዇Šƒ‹„ዒŽዌ… …Š‘Šዟ‰“—ዣ¯኶‘†‹…Š—›዇¯ዋŠ•ዀ 48

ͷǤʹǤͳǤŠዛዓ‰’Šž’–Šዠ…Š‹ዉ 48

ͷǤʹǤʹǤ—ዣ¯኶‘†‹…Š—›዇–Š‡‘˜Ö‰–”֐ 48

ͷǤʹǤ͵Ǥ—ዣ¯኶‘†‹…Š—›዇–Š‡‘…ž…‰×…˜—ؐ‰ 54

5.ʹǤͶǤ—ዣ¯኶‘†‹…Š—›዇Ž‹ዉ–ዙ…Š‹዆—˜Ö‰ 55

ͷǤ͵Ǥž…¯ዋŠ˜ዋ–”À‘„‘–˜ዔ‹…኷„‹ዅ‹†ƒ” 57

ͷǤ͵ǤͳǤዄ„኷¯ዏØ‹–”ዛዕ‰ 57

ͷǤͶǤʹǤ0ዋŠ˜ዋ…Š‘‘„‘– 60

ͷǤͶǤዘ’Šኸ–…ž……኷„‹ዅ…Š‘“—ž–”¿Š¯ዋŠ˜ዋ‘„‘– 61

ͷǤͶǤͳǤŠዛዓ‰’Šž’–Šዠ…Š‹ዉ 61

ͷǤͶǤʹǤ0žŠ‰‹žዅ–“—኷¯ዋŠ˜ዋ 63

ͷǤͷǤ0žŠ‰‹žዅ–“—኷¯ዋŠ˜ዋ˜ዔ‹„‹–‘ž¯‹዆—Šዛዔ‰‘„‘– 64

ͷǤ͸ǤŠኼš±–˜ዅ–Ž—ኼ 67

Šዛዓng 6 69

͸ǤͳǤ0žŠ‰‹žዅ–“—኷–Šዠ…Š‹ዉ 69

͸ǤʹǤŠዟ‰዁–Š኶…Šዅ 69

͸Ǥ͵ǤŠዛዓ‰Šዛዔ‰’Šž––”‹዇ 70

  ኛ኉ 71

ካካͳ 75

ͳǤͳǤƒŠ•ž…Šˆ‹Ž‡†ƒ–ƒ†î‰Šኼ†኶‰ØŠ¿Š¯ዒ‰…ዓȋ‹†‡–Ȍ 75

1.2 Danh sách m-ˆ‹Ž‡˜†ƒ–ƒ–Šዠ…Š‹ዉ“—ž–”¿ŠØ’Šው‰ǡ¯žŠ‰‹ž 75

1.3 Danh sách m-ˆ‹Ž‡˜†ƒ–ƒ–Šዠ…Š‹ዉ¯žŠ‰‹ž‘†‘‡–”› 75

1.4 Danh sách m-ˆ‹Ž‡˜†ƒ–ƒ…Š‘¯žŠ‰‹ž„ዒŽዌ…ƒ†‰™‹… 75

1.5 Dánh sách m-ˆ‹Ž‡˜†ƒ–ƒ…Š‘¯žŠ‰‹ž’Šዛዓ‰•ƒ‹Š‹ወ— 76

ͳǤ͸ǤƒŠ•ž…Š„ƒ‰ˆ‹Ž‡…Š‘…ž…“—ዣ¯኶‘†‹…Š—›዇Šž…Šƒ— 76

ͳǤ͹ǤƒŠ•ž…Š„ƒ‰ˆ‹Ž‡…Š‘„ዒŽዌ… ዖ…ž…“—ዣ¯኶‘†‹…Š—›዇Šž…Šƒ— 76

ͳǤͺǤƒŠ•ž…Š„ƒ‰ˆ‹Ž‡…Š‘  —•‹‘–ዐ‰Šዘ’…וዞ†ዙ‰‹†ƒ” 77

ͳǤͻǤžŠ•ž…Š„ƒ‰ˆ‹Ž‡“—ž–”¿Š¯‹዆—Šዛዔ‰¯ዅ…ž…¯‹዇ 77

ካካʹ 78

Code Matlab Function trên Matlab cho ModelRobot.slx 78

Ќ@Ϸ

¿ŠͳǤͳ ‰‹ዟƒ‘†‘‡–”›ǡ ˜ȏ͵Ȑ 4

¿ŠͳǤʹƒ’Šዛዓ‰’Šž’–‹ዅ’…ኼŠž…Šƒ—…ዚƒ ȏͺǡ’ǤͶǡˆ‹‰ǤʹȐ 5

¿ŠʹǤͳዉ“—›…Š‹ዅ—–‘…ዙ…GXGYG ˜Šዉ“—›…Š‹ዅ—”‘„‘–RXRYR 9

¿ŠʹǤʹዓ¯ዏ¯‹ዉ…ዚƒ¯ዒ‰…ዓ¯‹ዉͳ…Š‹዆— 11

¿ŠʹǤ͵ዓ¯ዏ–Š—ኼ––‘ž„ዒŽዌ… 14

¿ŠʹǤͶዓ¯ዏ“—ž–”¿Š  —•‹‘…Š‘‘„‘– 19

¿Š͵Ǥͳ¿Š኷Š–Šዠ…–ዅ’Šኹ„ዉ¯዗”‘„‘–˜኶…Š¯‹዆—Š‹዇ 21

¿Š͵Ǥʹ¿Š኷Š–Šዠ…–ዅ–ዐ‰“—ž–…ዚƒ‘„‘– 21

¿Š͵Ǥ͵ØŠ¿Š¯‹዆—Š‹዇˜ዔ‹„ዒ¯‹዆—Š‹዇ œ 23

¿Š͵ǤͶ0ž’ ዜ‰…ዚƒŠዉ–Šዎ‰Š‹–Š²„ዒ¯‹዆—Š‹዇