基于网格线的自主机器人定位系统设计

Design of Location System for Autonomous Robot Based on Grid Line

针对自主机器人在具有不同于主平面颜色的正交网格线的平面区域内移动时,机器人位置坐标和移动方向难以确定的问题,提出了一种新型的定位系统。本系统以Freescale公司生产的16位微控制器MC9S12DG128B为信号检测和数据处理的核心,采用捷联惯性导航技术,通过不断采集机器人的加速度和角速度,计算出其当前的坐标和移动方向,同时采用光电传感器辅助定位,解决机器人在长距离移动时带来的累积误差,提高定位精度。实验结果表明,该系统设计方案可行。

A novel location system designed to solve the problem of antonomous robot moving in the planar region where has different color grid line, is proposed. 16-bits microcontroller MC9S12DG128B produced by Freescale is chosen as the core of signal detection and data processing, the strapdown inertial navigation is adopted as the main method. The coordinate and moving direction is figured out by collecting the robot＇ s accel- eration and angular velocity information continuously. In order to resolve the accumulative error caused by long- distance navigation, photoelectric sensor array is used to calibrate the error and improve the location precision. The experiment results show that the system program is feasible.