共查询到17条相似文献,搜索用时 171 毫秒
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胡劲草 《传动技术(上海)》2006,20(4):14-18,46
定位是确定机器人在其工作环境中所处位置的过程.应用各种传感器感知信息实现可靠的定位是自主式移动机器人最基本、也是最重要的一项功能之一.本文对室内自主式移动机器人的定位技术进行了综述,介绍了当前自主式移动机器人定位方法的研究现状.同时,对国内外具有典型性的研究方法进行了较详细的介绍,并重点提出了几种室内自主式移动机器人通用的定位方法,对其中的地图构造、位姿估计方法进行了详细介绍.最后,论述了自主式移动机器人定位系统与地图构造中所面临的主要问题及其解决方法并指出了该领域今后的研究方向. 相似文献
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自主移动机器人定位技术研究综述 总被引:2,自引:0,他引:2
定位技术是自主移动机器人最基本也是最重要的技术之一。本文介绍了几种自主移动机器人的定位技术,着重分析了基于路标定位和概率定位的技术,及其各自的优点和局限性,并提出了今后研究的方向。 相似文献
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针对自主式移动机器人实时导航的需要,提出了一种基于CAN总线的自主式移动机器人通信系统.该通信系统利用2条CAN总线把上位计算机、传感器模块和运动控制器连接在一起,降低了系统的连线数量,提高了系统的可维护性.实验表明,该系统通信可靠、实时性好、扩展性强,具有较高的实用价值. 相似文献
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导航与定位是自主移动机器人研究的重点,是实现移动机器人智能化的核心技术。本文从全区域覆盖移动机器人面临的实际环境,综合光电编码器、磁航向角传感器和LMS221系列激光雷达的特性设计一种混合定位系统。通过理论分析,论述同时定位与地图创建方法(SLAM)在导航系统中应用的可行性和解决方案。 相似文献
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针对自主式移动机器人实时导航的需要,提出了一种基于CAN总线的自主式移动机器人通信系统。该通信系统利用2条CAN总线把上位计算机、传感器模块和运动控制器连接在一起,降低了系统的连线数量,提高了系统的可维护性。实验表明,该系统通信可靠、实时性好、扩展性强,具有较高的实用价值。 相似文献
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应用同时定位与地图创建理论建立全区域覆盖移动机器人导航系统,融合航位推算理论和基于环境特征的定位方法,设计了基于光电编码器--磁航向传感器组合和LMS激光雷达的混合定位系统.使用扩展Kalman滤波技术完成了基于特征直线的机器人位置更新.通过计算机仿真,结果表明建立的混合定位系统和同时定位与地图创建方法是一种切实可行的全区域覆盖移动机器人的导航方法. 相似文献
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未知环境移动机器人自主导航是当前的研究热点.同步定位与建图是实现移动机器人自主导航的关键环节.目前,许多学者通过激光测距仪、声呐、相机等设备来研究同步定位与建图.本文提出了由一台笔记本控制携带Kinect传感器移动机器人获取信息,再通过独立工作站创建未知环境全局地图的方案.其中,笔记本获取的信息(深度数据)通过无线传输给工作站.Gmapping(一种高效的Rao-Blackwellized粒子滤波器将激光扫描数据生成栅格地图)参数被优化来提高地图创建质量和激光扫描数据精度.通过Turtlebot进行实验验证了本文所提方案的有效性. 相似文献
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根据自主运动机器人的室内定位需求,设计并实现基于机器人操作系统ROS和激光雷达的室内移动机器人定位和导航系统。机器人系统采用树莓派控制器作为控制核心平台,利用激光雷达采集环境信息,在ROS分布式框架下进行软件算法的开发,实现基于扫描匹配算法的SLAM功能、基于最优路径算法路径规划以及基于粒子滤波算法的导航功能。理论仿真及实验实测结果表明,系统可构建精度较高的环境地图,并对机器人进行定位,有效完成室内定位和导航任务,具有低成本、开源、模块化、易于拓展等优点。 相似文献
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语义信息可以使机器人更充分地理解未知环境,为更高级的人机交互和完成更复杂的任务奠定基础。为了能够使移动机器人实时地创建语义地图,在Jetson TX1嵌入式电脑上开发了一种轻量级的深度学习目标检测模型,在保证了检测精度的同时,实现了高效的目标检测功能。并利用了视频流中的帧间光流信息,使用运动信息指导传播算法降低检测算法的漏检率。对于Kinect传感器生成的深度图像有黑边、黑洞等缺陷,使用统一计算设备架构(CUDA)技术开发了一种实时的深度图像修复算法。利用即时定位与地图构建(SLAM)技术,实现移动机器人底层的定位、导航、地图创建功能,并在此基础上使用贝叶斯推理框架,同时融合了环境的度量信息与视觉识别信息完成了语义地图的创建。经过实验表明,所提出的方法在实际的、复杂的室内环境下可以使移动机器人实时地创建语义地图。 相似文献
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Nak Yong Ko Dong Jin Seo Reid G. Simmons 《Journal of Mechanical Science and Technology》2008,22(11):2090-2098
This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses
prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher
priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be
applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for
application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and
it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots.
This paper was recommended for publication in revised form by Associate Editor Jong Hyeon Park
Nak Yong Ko received the B.S. degree, M.S. degree, and Ph.D. degree from the Department of Control and Instrumentation Engineering, Seoul
National University, Korea, in the field of robotics. He is Professor of the department of Control, Instru-mentation, and
Robot Engineering, Chosun University, Korea, from 1992. During 1996–1997 and 2004–2005, he worked as a visiting research scientist
at the Robotics Institute of Carnegie Mellon University. His research interests include autonomous motion of mobile robots(collision
avoidance, localization, map building, navigation, and planning), manipulator force/torque control, and incorporation of mobile
robot technology into GIS.
Dong Jin Seo is a Research Engineer in Robotics Institute at REDONE Tech. He earned B.A degree, M.S. degree and Ph.D. degree from the
Department of Control and Instrumentation Engineering, Chosun Uni-versity, Korea in 2000, 2002 and 2006. During 2004–2005,
he worked as a visiting student scholar at the Robotics Institute of Carnegie Mellon University, USA. His research interests
are multi-robot cooperation, localization, navigation and modeling robot simulation systems with uncertainty.
Reid Gordon Simmons is a research scientist in the department of com-puter science and robotics institute at Carnegie Mellon University, USA.
He earned his B.A degree in 1979 in computer science from SUNY at Buffalo, and his M.S and Ph.D. degrees from MIT in 1983
and 1988, respectively, in the field of artificial intelligence. His research interests focus on developing reliable, highly
autonomous systems(especially mobile robots) that operate in rich, uncertain environments. In particular, he is interested
in architectures for autonomy the combine deliberative and reactive behavior, reliable execution monitoring and error recovery,
multi-robot coordination, probabilistic and symbolic planning, formal verification of autonomous systems, and human-robot
social interaction. 相似文献
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Levent Yenilmez Hakan Temeltas 《The International Journal of Advanced Manufacturing Technology》2007,34(1-2):168-178
This study proposes a new map building method for a mobile robot operating in an environment with obstacles by fusing sensor
data. Required information for a map designing is supplied by fusion of different sensor data using the sequential principal
component (SPC) method. We discuss mathematical and experimental issues of the method by comparing a Bayesian method that
works efficiently in map building using sensor data fusion. Application of the method for grid based map building is introduced
and compatibility in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot
successfully. 相似文献