| 一种主要基于多超声波传感器定位的新方法 |
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| 引用本文： | 章小兵,宋爱国,唐鸿儒. 一种主要基于多超声波传感器定位的新方法[J]. 制造业自动化, 2006, 28(1): 29-32 |
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| 作者姓名： | 章小兵 宋爱国 唐鸿儒 |
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| 作者单位： | 1. 东南大学仪器科学系,南京,210096;安徽工业大学电气信息学院,马鞍山,243002
2. 东南大学仪器科学系,南京,210096 |
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| 摘 要： | 提出对室内空间分区的方法,解决了移动机器人在室内环境下的定位。在室内有随机障碍物的情况下,根据空间区域特点剔除坏值,采用串联和并联推断的方式,对机器人进行定位。该方法融合了机器人内部传感器电子罗盘、里程计和外部4个超声波测距传感器的同步和异步信息,具有很高的抗干扰特性和较高的定位精度。
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| 关 键 词： | 移动机器人 超声波传感器 定位 |
| 文章编号： | 1009-0134(2006)01-0029-04 |
| 收稿时间： | 2004-08-08 |
| 修稿时间： | 2004-08-08 |
A new method of localization mainly on the basis of multi ultrasonic sensors |
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| ZHANG Xiao-bing,SONG Ai-guo,TANG Hong-ru. A new method of localization mainly on the basis of multi ultrasonic sensors[J]. Manufacturing Automation, 2006, 28(1): 29-32 |
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| Authors: | ZHANG Xiao-bing SONG Ai-guo TANG Hong-ru |
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| Affiliation: | 1. Department of Instrument Science and Engineering of Southeast University, Nanjing 210096, China; 2. Electricity and Communication College of Anhui University of Industry,Maanshan 243002, China |
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| Abstract: | The method of divided indoor space is put forward,in order to solve the localization of mobile robot.On the indoor condition with random obstacles,bad values are eliminated according to spatial regions characteristic and the mobile robot with a electronic compass and two encodes and four ultrasonic sensors is located with high anti-jamming ability and high precision by means of serial and parallel deduction. |
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| Keywords: | mobile robot ultrasonic sensors localization |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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