基于超声波的自重构移动机器人自主对接方法  

Ultrasonic Based Autonomous Docking for Self-reconfigurable Robot

作　　者：李雄峰[1] 傅华蕾[1] 李大寨[1] 鲁明[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《机械与电子》2010年第5期51-55,共5页Machinery & Electronics

基　　金：国家八六三"计划资助项目(2006AA04Z241)

摘　　要：分别在两个对接模块上使用一个超声波发射头和一个超声波接收头,并利用超声波信号对距离和角度敏感的特性,实现了两个机器人模块的对接.实验表明,两个机器人模块交替进行自转与超声波导引可以最终将两模块对齐在一条线上.此方法普遍适用于平面上其它类型机器人模块间的相互对接.Using only one ultrasonic transmitter and one receiver on each of two docking modules of JL - 1. The characteristic of ultrasonic signal, being sensitive to distance and angle between transmitter and receiver,is applied to align two ro- bots in this paper. Experiments have indicated that alternating active rotation and ultrasonic based guidance method can align two robots in one line, and ready for docking. The theory proposed in paper is general and can be applied to other interdocking process on plane.

关 键 词：自重构 自主对接 超声波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]