一种混合协同定位的多机器人通信方法研究  

Research on a Multi-Robot Communication Method for Hybrid Cooperative Positioning

作　　者：艾浩军[1] 韩亮亮 黄乐 金子龙 王壹丰 AI Haojun;HAN Liangliang;HUANG Le;JIN Zilong;WANG Yifeng(School of Cyber Science and Engineering,Wuhan University,Wuhan 430073,China;Institute of Aerospace System Engineering Shanghai,Shanghai 201109,China;School of Computer Science&Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd,Shanghai 201108,China)

机构地区：[1]武汉大学国家网络安全学院,武汉430073 [2]上海宇航系统工程研究所,上海201109 [3]武汉工程大学计算机科学与工程学院,武汉430205 [4]中国航天科技集团有限公司空间结构与机构技术实验室,上海201108

出　　处：《载人航天》2019年第5期646-651,共6页Manned Spaceflight

基　　金：上海航天科技创新基金(SAST2015014)

摘　　要：针对月面环境下无GPS定位的多机器人之间组网通信与全局定位问题,提出了一种混合定位的多机器人精准通信方法。首先利用自定位和相对定位结合、近定位和远定位结合的方案,实现月面多机器人的精准定位,然后采用基于MODBUS的网络通信方法进行信息互通,将接收的信息数据进行自动缓存和融合,最后进行通讯信息分析和定位融合处理。此外,将提出的通信组网框架在STM32平台上进行开发和测试,在400 m实验测试中通信正常,定位精度达到米级。To solve the problem of networking communication and global positioning between robots in the lunar environment without GPS and other positioning systems,a hybrid multi-robot communication method was proposed.First,the scheme of combining the self-positioning with relative positioning and near-position with far-position was adopted to realize the precise positioning of multi-robot on the lunar surface.The MODBUS-based network communication method was used for information intercommunication and the received information data were automatically buffered and fused.Then the communication information analysis and location fusion processing were performed.In the end,the proposed communication networking framework was developed and then tested on the STM32 platform.The communication was normal in the 400 m test and the positioning accuracy reached the meter level.

关 键 词：MODBUS 无线组网 通信与定位平台 中断机制 

分 类 号：V243.1[航空宇航科学与技术—飞行器设计]