移动机器人搬运物料目标定位优化仿真  

Optimization of Mobile Robot Target Localization for Material Handling

作　　者：张长勇[1] 王兴财[1] 步亚 董慧芬[1] 

机构地区：[1]中国民航大学机器人研究所,天津300300

出　　处：《计算机仿真》2018年第2期257-261,共5页Computer Simulation

摘　　要：精确定位是移动机器人循迹跟踪的研究重点。针对移动机器人搬运物料过程中的定位问题,研究了一种基于模糊迭代学习的精确定位方法。采用电子罗盘和磁传感器组成"粗磁带定位"和"精确磁带定位"的循迹跟踪偏差定位系统,利用模糊迭代学习纠正不同转弯半径的路径偏差。通过六轮中驱差速式结构的移动机器人进行仿真,结果表明通过多次模糊迭代学习可以实现机器人精确定位和循迹跟踪,上述定位方法具有简单实用性。Accurate localization is the key research on mobile robot tracking. Aiming at the localization of mobile robot in the process of material handling, a new method of accurate positioning based on simple sensors is proposed. The localization system of tracking error offset was composed with electronic compass and magnetic sensor, which is called ＂coarse tape positioning＂ and ＂precise tape positioning＂. The fuzzy iterative learning was used to correct the path deviation of different turning radii. The simulation results show that the robot can accurately locate and follow the trajectory through multiple fuzzy iterative learning. The method is simple and practicable.

关 键 词：移动机器人 模糊迭代学习 路径偏差 精确定位 

分 类 号：TP244[自动化与计算机技术—检测技术与自动化装置]