基于光电传感器的移动机器人局部定位系统

Local Positioning System for Mobile Robot Based on Photoelectric Sensor

移动机器人的定位是实现智能控制的基础,目前常用的方法有里程计定位和视觉定位等。视觉定位常常不能判断物体的准确位置,而里程计定位则存在轮子打滑情况。因此,常遇到因惯性滑动导致定位不准的情况,以致对轮转的测量数据不能作为判断机器人实际运行情况的依据。本文提出一种利用光电传感器实现局部精确定位的方法,它和视觉定位配合可实现Robocup足球机器人的大范围精确定位。

Mobile robot localization is the basis for intelligent control,and the commonly used methods are visual orientation and odometer positioning.The visual orientation to the exact location cannot row,whereas the odometer wheel may spin orientation.There as,the rotation of the measurement data is difficult to judge the actual movement of the robot because the sliding inertia often be encountered.In this paper,a photoelectric sensor to achieve accurate local positioning method is presented,a large range precise positioning of Robocup robot soccer can be realized if it is used with visual orientation together.