局域精确定位的工业移动机器人惯性导航方案

为解决工业移动机器人投入使用前需沿路密集布设地面磁条或激光反射点等外部装置的复杂性，以及因工作路线固定而缺少灵活性的问题，提出了基于惯性器件和超声波传感器的局域导航方案。操作人员事先通过遥控器训练机器人从一目标位置沿特定路线运动到另一目标位置，从而生成训练路线。机器人工作在非目标区域，即定位精度要求不高的区域时，按训练路线进行惯性导航；进入到目标区域，即包含目标位置、需精准定位的区域时，利用超声波进行导航。所提方案缩短了使用前的准备周期，同时方便更改工作路线。通过仿真实验，验证了局域范围使用惯性导航和超声波定位相结合的方案是合理可行的。

Inertial navigation scheme for industrial mobile robot with local precise positioning

In order to solve the problem of complexity for laying the ground magnetic, laser reflection point or other devices before industrial mobile robot can come into service, and the inflexibility resulting from the fixed work path, a scheme of industrial mobile robot navigation based on inertial and ultrasonic sensors was proposed. Operator needed to train the robot from one target position moving towards another target position in advance to acquire train path. When the robot worked in non-target area, i.e. the area demanding low location accuracy, it navigated according to the train path based on inertial sensors; When coming into target area, i.e. the area containing target position and demanding high location accuracy, ultrasonic sensors conducted the navigation. The scheme shortened the preparation period, and it was convenient to change work path. The simulation results show that the scheme combining inertial navigation and ultrasonic location is feasible.