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对推算定位法进行了研究 ,提出了一种改进方案 .通过对移动机器人运动轨迹与状态的分析 ,导出了一类移动机器人的基于轨迹的运动学新模型 .利用移动机器人三个轮子的里程信息和导向轮的转角信息 ,通过信息模糊融合获得转弯半径和转角 ,再利用运动学模型获得机器人的位置和方向 .将这种改进的推算定位法与主动灯塔法相结合 ,提出了一种用于室内移动机器人的定位方法 .仿真结果表明 ,该方法具有实时性好、精度高、成本低、鲁棒性好等特点 ,并适用于不平整地面 .
A new scheme is proposed to study the method of locating and calculating the locating method.A new trajectory-based kinematics model of a mobile robot is derived by analyzing the locomotion trajectory and state of the mobile robot.Using the distance information of the three wheels of the mobile robot And the corner information of the steering wheel, the turning radius and corner are obtained by the fuzzy information fusion, and then the position and orientation of the robot are obtained by the kinematic model. Combining this improved estimation and positioning method with the active lighthouse method, The method of locating mobile robot.The simulation results show that this method has the characteristics of good real-time, high accuracy, low cost and good robustness, and is suitable for uneven ground.