一种简化的室内机器人电磁定位算法与系统

文章提出了一种简化的室内机器人的电磁定位算法。在定位空间内布置一个发射线圈和一个三轴接收线圈,形成电磁耦合系统。以接收线圈三轴为参考建立空间直角坐标系,并对发射线圈加载正弦电信号作为激励信号,产生交变电磁场。接收线圈感应到磁场的变化,通过测量计算感应耦合的强度特征值,确定移动目标的位置参数。本系统将三轴接收线圈固定,而将水平发射线圈置于平面移动机器人目标之上,这样可将定位算法简化。根据磁偶极子模型,提出了解析计算方法。通过仿真和实验,证明该方法能够满足室内机器人的定位要求,是可行且有效的。

A Simplified Magnetic Localization Algorithm and System for Indoor Mobile Robot

In this paper, a simplified magnetic localization method and system for indoor robot was proposed. A transmitter coil and a set of three axis receiver coils were ranged in the localization space to form the magnetic coupling system. The Cartesian coordinate system was built according to the three-axis orthogonal receiving coils. A magnetic field was setup by the transmitter coil which was activated by a sinusoidal current signal. The 3-axis receiver coils sensed the change of the magnetic signal around, and their intensities could be calculated to extract the characteristic parameters for computing the position of the transmitter coil. Here, the transmitting coil was fixed on the mobile robot, while the 3-axis receiver coil was located in a certain position of the building. The characteristic parameters could be calculated based on the magnetic dipole model. According to the simulation and experimental results, this method proves to have high efficiency and satisfactory accuracy which are suitable for mobile robot localization.