基于相对定位的多移动微机器人协作定位方法  

Collaborative localization method of multiple mobile micro-robots based on relative positioning

作　　者：毛玲 李振波[2] 陈佳品[2] MAO Ling;LI Zhen-bo;CHEN Jia-pin(College of Electrical Engineering,Shanghai University of Electric Power,Shanghai 200090,China;Key Laboratory for Thin Film and Microfahrication,Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海电力学院电气工程学院,上海200090 [2]上海交通大学薄膜与微细技术教育部重点实验室,上海200240

出　　处：《传感器与微系统》2018年第8期46-48,共3页Transducer and Microsystem Technologies

摘　　要：为了提高微机器人定位的精确性,研究了基于相对定位的多移动微机器人协作定位方法。结合微机器人尺寸小的特点,定位系统中采用低功耗的红外传感器作为微机器人的测距传感器,利用粒子滤波实现微机器人的自定位。在自定位及相对定位的基础上,提出了多微机器人的协作定位算法,通过保留一定数目的粒子在自身粒子集合中,而非交换全部的粒子的策略,保证了一定的定位精度。仿真与实验结果验证了协作定位算法的有效性。Collaborative localization method of multi-mobile micro-robot based on relative positioning is researched, in order to improve localization precision of micro-robot. Self-positioning of micro robot is realized by particle filtering method, and low power consumption infrared sensor is used in positioning system as ranging sensor of micro-robot according to characteristic of small size of micro-robot. Collaborative localization method is proposed based on relative positioning and self-positioning,which remains some particles in its own particle set,rather than strategy of exchanging all the particles, ensure certain positioning precision. The effectiveness of this collaborative localization algorithm is verified by simulation and experiment results.

关 键 词：多微机器人 红外测距 协作定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]