摘要
针对农业机器人应用中的自主导航问题,提出了一种基于无线测距的导航定位方法。首先,分析了机器人的机械模型和位姿描述;然后,阐述了超宽带测距的原理,并分析了基于超宽带测距的定位模型;最后,设计了基于卡尔曼滤波器的多信标传感器信息融合算法。该方法稳定性高,操作简便,解决了农业机器人在恶劣和未知作业环境中的导航定位问题。
In view of the autonomous navigation problems existing in the application of agricultural robot,this paper proposes a method of navigation and localization based on radio ranging.Firstly,the mechanical model and description of pose are analyzed.Then the principle of ultra-wide band(UWB) is described,and the localization model based on UWB is discussed.Finally,a multiple beacon data fusion algorithm is designed based on Kalman filter.This method is stable and simple operation,and the navigation and localization problem in bad and unknown working environment is solved for the agricultural robot.
出处
《农机化研究》
北大核心
2012年第4期72-74,78,共4页
Journal of Agricultural Mechanization Research
基金
中央高校基本科研业务费专项资金资助项目(2010CX01)
关键词
农业机器人
无线测距
导航定位
信息融合
卡尔曼滤波器
agricultural robot
radio ranging
navigation and localization
data fusion
Kalman filter
