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| 新型仿生六足机器人导航系统的建模与仿真 | |
| 引用本文： | 侯保江,韩宝玲,罗庆生,赵小川. 新型仿生六足机器人导航系统的建模与仿真[J]. 传感器与微系统, 2008, 27(7) |
| 作者姓名： | 侯保江 韩宝玲 罗庆生 赵小川 |
| 作者单位： | 1. 北京理工大学机械与车辆工程学院,北京,100081 2. 北京理工大学宇航科学技术学院,北京,100081 |
| 摘 要： | 针对新型仿生六足机器人工作任务和作业环境的要求,设计了一种基于INS-GPS器件的专用组合式导航系统。该导航系统采用集中开环式组合方式,以INS和GPS器件输出的导航数据差作为滤波器的输入值,运用经典卡尔曼滤波理论对该导航系统进行了实时修正,并根据仿生六足机器人运动特性和测量任务的要求,建立了该导航系统的位置、速度组合测量方程,并运用MATLAB软件进行了仿真,仿真结果表明:采用该组合式导航系统可大大提高仿生六足机器人的导航精度,为仿生六足机器人实现智能化、实时化控制奠定了基础。 |
| 关 键 词： | 仿生六足机器人 组合式导航系统 INS-GPS 卡尔曼滤波 建模与仿真 |
Modeling and simulation of biologically inspired hexapod robot's navigation system |
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| HOU Bao-jiang,HAN Bao-ling,LUO Qing-sheng,ZHAO Xiao-chuan. Modeling and simulation of biologically inspired hexapod robot's navigation system[J]. Transducer and Microsystem Technology, 2008, 27(7) | |
| Authors: | HOU Bao-jiang HAN Bao-ling LUO Qing-sheng ZHAO Xiao-chuan |
| Abstract: | Biologically inspired hexapod robot's navigation system based on INS-GPS is designed in order to meet its working surroundings and task's demand.Centralized open-loop Kalman filter is applied in the navigation system.INS-GPS devices'output difference is the filter's input.The position-velocity integrated measurement equation is deduced based on the robot's locomotion performance and measurement demand.Simulation experiments are conducted under MATLAB software environment.The simulation results show that the system's navigation precision is improved effectively.The hexapod robot can realize intelligent and real-time control based on it. |
| Keywords: | INS-GPS |
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