摘要
提出对室内空间分区的方法,解决了移动机器人在室内环境下的定位。在室内有随机障碍物的情况下,根据空间区域特点剔除坏值,采用串联和并联推断的方式,对机器人进行定位。该方法融合了机器人内部传感器电子罗盘、里程计和外部4个超声波测距传感器的同步和异步信息,具有很高的抗干扰特性和较高的定位精度。
The method of divided indoor space is put forward, in order to solve the localization of mobile robot. On the indoor condition with random obstacles, bad values are eliminated according to spatial regions characteristic and the mobile robot with a electronic compass and two encodes and four ultrasonic sensors is located with high anti-jamming ability and high precision by means of sedal and parallel deduction.
出处
《制造业自动化》
北大核心
2006年第1期29-32,共4页
Manufacturing Automation
