移动机器人的在线实时定位研究

对推算定位法进行了研究,提出了一种改进方案.通过对移动机器人运动轨迹与状态的 分析,导出了一类移动机器人的基于轨迹的运动学新模型.利用移动机器人三个轮子的里程信息 和导向轮的转角信息,通过信息模糊融合获得转弯半径和转角,再利用运动学模型获得机器人的 位置和方向.将这种改进的推算定位法与主动灯塔法相结合,提出了一种用于室内移动机器人的 定位方法.仿真结果表明,该方法具有实时性好、精度高、成本低、鲁棒性好等特点,并适用于不平 整地面.

Accurate Positioning in Real Time for Mobile Robot

The improvement of dead reckoning is presented. According to the movement trajectory and status of a mobile robot, a new kinematics model for the mobile robot is derived using coordinate transformation based on the turning radius and angle. And the turning radius and angle are obtained from the yawing angle information and the odometer information of the three wheels using fuzzy fusion technology. Combining the active beacon with improved dead reckoning, a new accurate positioning method for indoor mobile robot is proposed. The simulation shows that it has characteristics such as good performance in real time, high accuracy, low cost and good robustness. It is also suitable for rough ground.