| 基于GPS的仿生六足机器人实时导航定位 |
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| 引用本文： | 赵小川,罗庆生,韩宝玲,肖伟. 基于GPS的仿生六足机器人实时导航定位[J]. 计算机工程, 2009, 35(12): 166-168 |
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| 作者姓名： | 赵小川 罗庆生 韩宝玲 肖伟 |
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| 作者单位： | 北京理工大学机电学院,北京,100081;北京理工大学机械与车辆工程学院,北京,100081;北京航空航天大学机械工程及自动化学院,北京,100083 |
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| 基金项目： | 总装备部基金重点项目 |
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| 摘 要： | 根据微小型仿生六足机器人的作业任务和工作环境要求，搭建一套基于嵌入式数字信号处理器TMS320VC 5509A DSP和Superstar II GPS接收板卡的机器人导航系统。采用Marconi Binary串行数据传输标准协议采集全球定位系统(GPS)的定位数据，提出用切面投影定位法对GPS提供的定位数据进行坐标转换，并根据转换后的结果对仿生六足机器人的航迹进行修正。实验结果表明该导航定位系统具有良好的实时性和定位精度。
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| 关 键 词： | 导航定位 全球定位系统 仿生六足机器人 |
| 修稿时间： | |
Real-time Navigation and Localization for Biologically Inspired Hexapod Robot Based on GPS |
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| ZHAO Xiao-chuan,LUO Qing-sheng,HAN Bao-ling,XIAO Wei. Real-time Navigation and Localization for Biologically Inspired Hexapod Robot Based on GPS[J]. Computer Engineering, 2009, 35(12): 166-168 |
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| Authors: | ZHAO Xiao-chuan LUO Qing-sheng HAN Bao-ling XIAO Wei |
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| Affiliation: | 1.School of Mechatronical Engineering;Beijing Institute of Technology;Beijing 100081;2.School of Mechanical and Vehicular Engineering;3.School of Mechanical Engineering & Automation;Beihang University;Beijing 100083 |
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| Abstract: | This paper establishes a navigation and localization system of biologically inspired hexapod robot based on the TMS320VC 5509A DSP and Superstar II GPS receiver. In order to improve the navigation system’s real-time performance, Marconi Binary serial data communication protocol is used, and a novel coordinate transform and navigation algorithm is proposed. The approach is implemented and tested under experimental environments, which demonstrates its real-time performance, effectiveness, robustness and high efficiency. |
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| Keywords: | navigation and localization GPS biologically inspired hexapod robot |
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