移动机器人精确停靠系统的设计与实现  

Design and Implementation of Precise Docking System for Mobile Robots

作　　者：方宇凡 王景川[1] 王磊 FANG Yu-fan;WANG Jing-chuan;WANG Lei(College of Electronic Information and Electrical Engineering, Shanghai Jiaotong University;Yantai Port Information and Communication Co. , Ltd.)

机构地区：[1]上海交通大学电子信息与电气工程学院 [2]烟台海港信息通信有限公司

出　　处：《化工自动化及仪表》2018年第4期284-288,293,共6页Control and Instruments in Chemical Industry

基　　金：上海市科委创新行动计划项目(16111104802)

摘　　要：提出一种基于人工路标的移动机器人精确停靠系统,该系统可使机器人停靠在可观测到路标的区域内的不同位置和朝向,停靠重复精度高,对环境的改造程度小且路标位置不需要准确标定。此外,还提出了一种基于Fisher信息矩阵的多边形路标优化设计方法,通过此方法得到了满足毫米级定位要求的人工路标结构。最后通过实验验证了停靠系统的有效性。An artificial landmark-based precise docking system was proposed and it can enable robots to dock at various sites and directions within the areas where landmark can be observed and it has high docking repeat- ability and requires little in improving the docking condition and calibrating the landmark sites. In addition, a Fisher information matrix-based method of designing and optimizing the polygon landmark was proposed to ob- tain a landmark structure which satisfying millimeter-level localization requirements. The experimental result verifies the effectiveness and accuracy of the docking system proposed.

关 键 词：移动机器人 定位 人工路标 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]