模块化机器人移动定位系统的应用和研究  

Research and application of mobile positioning system for modular robot

作　　者：陈舒娅[1] 

机构地区：[1]赣南师范学院数学与计算机科学学院,江西赣州341000

出　　处：《现代电子技术》2015年第24期40-43,共4页Modern Electronics Technique

基　　金：国家自然科学基金(61305052)

摘　　要：移动定位是机器人执行任务的基础,没有精确的定位系统,移动机器人无法完成所要求的工作。基于Arduino模块设计实现了一个简单的机器人移动定位系统,系统以Arduino模块作为移动机器人的控制核心。简单介绍了移动定位理论,着重阐述定位系统的软硬件设计。系统采用Zig Bee无线传感网络定位方法,利用Zig Bee大范围定位无误差特性,使移动机器人快速准确定位,基于Zig Bee无线传感网络定位范围较小、精确度低的缺陷,对测距定位算法进行了一定的改进。最后经试验验证,所设计的移动定位系统定位误差较小,满足实际需求。Mobile positioning is the basis for robot to execute any tasks,that is,mobile robot can not complete the required work without a precise positioning system. A simple robot mobile positioning system based on Arduino module was designed and implemented,in which Arduino module is taken as the control core. The mobile positioning theory is introduced briefly,but the hardware and software design of the positioning system is described emphatically. Zig Bee wireless sensor network positioning method is adopted in this system,which utilizes the zero error characteristic of Zig Bee positioning in large area to make the mobile robot to locate correctly and rapidly. Aiming at the Zig Bee＇s shortcomings of small range and low accuracy,the ranging location algorithm is improved in this paper. The experimental results show that the positioning error of the designed mobile positioning system is small,which can satisfy the actual demand.

关 键 词：移动机器人 ARDUINO Zig Bee无线定位 RSSI 

分 类 号：TN911-34[电子电信—通信与信息系统] TP242.2[电子电信—信息与通信工程]