移动机器人的边界识别和遍历矫正  

Identification of the boundary and correction of the traverse of the mobile robot

作　　者：胡天佑[1] 项馨仪[1] 郑健海 周俊[1] 邬杨波[1] 

机构地区：[1]宁波大学信息科学与工程学院,浙江宁波315211

出　　处：《微型机与应用》2014年第3期85-87,90,共4页Microcomputer & Its Applications

摘　　要：设计和研究了移动机器人的磁边界识别和遍历矫正。采用烧结NdFeB作为磁边界材料;对于边界磁场信息的识别,选用UGN3503霍尔传感器来实现;对于机器人的遍历,采用迂回式遍历。对于通常移动机器人的遍历中产生的累计误差问题,提出一种矫正的方案,采用磁边界作为机器人纠正误差的标志,该磁边界同时也作为机器人工作区域的边界。这与当前其他矫正遍历误差方式相比,有效地降低了边界系统的复杂性,同时也提高整个运作系统的稳定性。In this paper, we design and research of magnetic boundary identification and traversal correction of mobile robot. For the establishment of a magnetic boundary, adopt sintered NdFeB materials as magnetic boundaries; for the boundary magnetic field information recognition, choose UGN3503 hall sensor to achieve; for traversing robot, use alternate type traversal. For the cumulative error problem, put forward a correct solution, using magnetic boundary as a symbol of robot to correct the error, at the same time, the magnetic boundary is the boundary of the robot work area. At current,this compared with other correction way to traverse the error, reduced the complexity of the boundary system effectively, at the same time, improve the stability of the whole operation system.

关 键 词：磁边界 移动机器人 遍历 矫正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]