摘要
为提高全方位移动机械手(ODMM)导航的效率和精度,提出了基于超声波绝对定位的导航策略,策略包括绝对定位的奔向目标行为与避障行为.相对于传统的导航策略,该策略的优势在于可以时时精确定位,时时调整自己的航向与速度.同时,提出采用单冗余信息融合(FSRI)法来提高超声波的绝对定位精度,并将基于FSRI法的绝对定位应用到ODMM导航上.仿真与实验结果证明,基于超声波绝对定位的导航算法是正确的,可大大提高ODMM的导航效率和精度.
To improve the navigation efficiency and precision of the omni-directional mobile manipulator （ODMM）, the ultrasonic-absolute-positioning strategy is proposed, where the move-togoal behavior and avoid-obstacle behavior based on absolute positioning are involved. Compared with the conventional navigation strategies, the strategy is endowed with the superiorities, such as instant accurate locality, posture and speed adjusting. Then the fusing single redundant information （FSRI） method is adopted to improve the precision of the ultrasonic-absolute-positioning, and an ODMM navigation strategy based on FSRI method absolute positioning is presented. The experimental and simulation results confirm the validity of the navigation strategy.
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2008年第3期337-341,共5页
Journal of Xi'an Jiaotong University
基金
国家高技术研究发展计划资助项目(2006AA04Z245)
关键词
超声波绝对定位
导航策略
奔向目标行为
避障行为
ultrasonic-absolute-positioning
navigation strategy
move-to-goal behavior
avoidobstacle behavior
