基于人工智能的机器人激光全局定位系统  

Robot laser global positioning system based on artificial intelligence

作　　者：徐坤[1] 周子昂[1] 王祺[1] 耿文波[1] XU Kun;ZHOU Ziang;WANG Qi;GENG Wenbo(Zhoukou Normal University,Zhoukou Henan 466001,China)

机构地区：[1]周口师范学院,河南周口466001

出　　处：《激光杂志》2023年第1期210-215,共6页Laser Journal

基　　金：河南省科技厅科技计划项目(No.182102210600)。

摘　　要：针对传统机器人定位系统由于定位精度低、定位范围小,导致其存在定位误差大的问题,利用人工智能和激光扫描技术,从硬件和软件两个方面优化设计机器人激光全局定位系统。改装系统的嵌入式处理器和无线传输网络,并从激光信号发射、接收、处理以及供电四个方面完成对激光定位传感器的设计,按照运行原理连接各个硬件设备。通过激光定位传感器设备的运行,获取机器人实时激光扫描数据。利用人工智能技术得到机器人实时位姿的求解结果。最终通过机器人全局位置坐标的计算,实现系统的软件定位功能。通过系统测试得出结论:设计系统的平均定位误差为0.77 m,小于0.1 m,且能够显示机器人在所有位置上的定位结果,即设计系统在定位精度和定位范围两个方面均满足设计要求。Aiming at the problem of large positioning error in traditional robot positioning system due to low positioning accuracy and small positioning range,the robot laser global positioning system is optimized from two aspects of hardware and software by using artificial intelligence and laser scanning technology.Refit the embedded processor and wireless transmission network of the system,complete the design of the laser positioning sensor from the four aspects of laser signal transmitting,receiving,processing and power supply,and connect each hardware device according to the operation principle.The real-time laser scanning data of the robot is obtained through the operation of the laser positioning sensor equipment.The real-time pose of the robot is obtained by using artificial intelligence technology.Finally,the software positioning function of the system is realized by calculating the global position coordinates of the robot.Through the system test,it is concluded that the average positioning error of the design system is 0.77 M,less than 0.1 M,and can display the positioning results of the robot in all positions,that is,the design system meets the design requirements in terms of positioning accuracy and positioning range.

关 键 词：人工智能 机器人定位 激光定位 全局定位系统 

分 类 号：TN249[电子电信—物理电子学]