服务机器人的室内定位研究及实现  

Research and Implementation of Indoor Positioning of Service Robot

作　　者：唐兵[1] 杨中亚[1] 王洪燕[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《机械设计与制造》2017年第4期253-255,共3页Machinery Design & Manufacture

基　　金：仿箱鲀机器鱼人工侧线系统的仿生设计与实验研究(51575005);中央高校基本科研业务费专项基金项目(800015FH)

摘　　要：随着机器人技术的日益发展,机器人的室内定位方法和精度要求也越来越高。文章针对实体四轮机器人进行运动学建模,根据机器人的平移与转动对其空间坐标的转换进行了数学建模,受到GPS的定位原理的启发,利用四片高性能单片机与机器人在室内环境下模拟室内机器人定位系统,基于实验平台进行定位实验研究对该系统进行验证,通过对比pc机控制行走轨迹与采用该室内定位系统后的行走轨迹,将实验结果导入到MATLAB中进行仿真,对比前后的机器人行走轨迹图,验证了该定位系统的准确性。With the development of the robot technology, the indoor localization method and the precision demand of the robot are also more and more high. The solid four wheel robot kinematics modeling, according to the robot＇s translational and rotational transformation of the spatial coordinates are modeled by inspired by the principle of GPS positioning, nsing four pieces of high performance single chip computer and robot simulation of indoor robot positioning system in the indoor environment, based on experimental platform of positioning experiments of the system verify, through contrast PC control walking trajectory and using the walking trajectory for the indoor positioning system, the experimental results were imported into MATLAB simulation and compared before and after the robot walking track diagram, to verify the accuracy of the positioning system.

关 键 词：服务机器人 室内定位 MATLAB仿真 数学建模 定位实验 行走轨迹 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]