基于Cricket无线定位的移动机器人控制系统  

Mobile Robot Control System Based on Cricket Wireless Localization

作　　者：郭立新[1] 黄秋野[2] 罗忠[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110004 [2]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2009年第12期1780-1783,共4页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(50875041);中国博士后科学基金资助项目(20070420203;200801391);教育部新世纪优秀人才支持计划(NCET-08-0103)

摘　　要：移动机器人系统的定位问题是移动机器人导航控制的前提.将Cricket无线定位技术与移动机器人控制系统相结合,建立一套基于无线传感器网络定位的机器人控制系统,完成了Cricket无线传感器网络定位系统与移动机器人系统的信息传输与集成,实现对移动物体的定位、导航与控制.在静止情况下,Cricket系统的定位精度较好,定位采样数据误差在3cm内波动.当移动物体以较快速度变换位置时,系统的延时时间约为60ms左右.The localization of mobile robots is the precondition and key to the navigation control of mobile robots.Combining the technology of Cricket wireless localization with mobile robot control system,a robot control system based on the localization of wireless sensor networks was developed to complete the information transmission/incorporation between the Cricket localization system and mobile robot system and implement the localization and navigation control of the mobile object.The Cricket system exhibits high precision in localization with the error of sampling data fluctuating within 3 cm under static condition. The system time delay is around 60 ms when the mobile object changes its location at a relative rapid speed.

关 键 词：无线传感器网络 移动机器人 定位 导航控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]