摘要
详细介绍了室外移动机器人磁导航系统中磁钉材料、形状及尺寸的选择原则.在分析各种磁传感器特性的基础上,选择HMC1022型磁阻传感器作为磁信号的检测元件.利用13个磁阻传感器,形成了用于检测磁钉磁场的磁尺.磁尺安装在车辆前保险杠上相对地面比较高的位置,解决了应用霍尔传感器等进行磁导航时安装高度比较低的问题.提出了一种改进的序列算法,根据相邻传感器的比值,通过设定阈值来细分区间,从而获得了更精确的磁定位结果.实验结果验证了改进序列算法的精确测量特性.
Selection principles for materials, geometry and dimension of the magnetic marker in the magnetic navigation system of outdoor mobile robot are introduced in detail. Based on analyzing the features of various magnetic sensors, the HMC1002 magnetoresistive sensor is chosen as the sensing elements to detect magnetic signals. A magnetic ruler including 13 magnetoresistive sensors is made to measure magnetic field of the magnetic marker. The magnetic ruler is installed on the front bumper of the vehicle at a relatively high position, and the low installation location problem in the magnetic navigation system with Hall-effect sensor is solved with magnetoresistive sensors. An improved sequential algorithm is brought forward, and by subdividing the offset range with the given threshold value, more precise magnetic localization results can be obtained according to the ratio of the neighboring sensors. The experimental results show the precise measurement with the improved sequential algorithm.
出处
《机器人》
EI
CSCD
北大核心
2007年第1期61-66,共6页
Robot
基金
国家自然科学基金资助项目(60575056)
CyberC3资助项目(CN/ASIA-It&C/002-88667)
CyberCars-2资助项目(FP6-028062)
关键词
磁钉
磁阻传感器
磁定位
智能车辆导航
magnetic marker
magnetoresistive sensor
magnetic localization
intelligent vehicle navigation
