基于激光传感器的多移动机器人位姿测量系统  

Measurement System for Position and Orientation of Multi-robot Based on Laser Sensor

作　　者：何琼[1] 何永义[1] 冯肖维[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机电一体化》2011年第2期47-51,共5页Mechatronics

基　　金：科技部863项目2007AA041604;上海市配套项目07DZ05805

摘　　要：为机器人准确定位设计了一个基于激光传感器的移动机器人位姿测量系统。测量系统用激光传感器扫描区域内的以矩形为标识的机器人,将测量数据传输到计算机上,通过数据处理软件进行数据处理,提取属于机器人的特征,同时结合机器人前一时刻的位姿,实时计算机器人当前位姿。实验结果表明,此系统能迅速识别机器人,并准确地确定每个机器人位置和姿态,通过网络向机器人发送其位姿数据,实现多移动机器人的精确定位。In order to precise localization for the robot, a measurement system based on laser sensor for position and orientation of mobile robot is proposed. The measurement system uses laser sensor which fixed on the ground scanning robots in range. To distinguish the robots, square are pasted on the bottom of the robots. The measurement data are sensed to the computer, are processed through the data-processing software. According to the features belonging to the robot combined with robot＇s previous moment position and orientation, real-time calculate the robot＇s position and orientation. The experimental results show that this system can calculate the position and orientation of robots. The position and orientation of robots are sensed to robots through the network to achieve the exact position of mobile robots. It can be achieved the exact location of mobile robots.

关 键 词：激光传感器 移动机器人 直线特征提取 位姿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]