摘要
为提高三边测量法定位精度,将三边测量法和最小二乘法结合起来进行机器人定位坐标计算,减小定位误差。同时,考虑到温度对超声波测量的影响,提出一种温度补偿方法对超声波声速进行修正。实验结果表明,采用上述方法能使机器人的定位误差控制在厘米级别,基本满足室内机器人的定位要求。
In order to improve the positioning precision of three-side method,this paper used the combination of three-side method and least square method to calculate the robot position coordinates.Considering influence of temperature of ultrasonic measurement,it adopted a temperature compensation to enhance ultrasonic velocity. The experiment results showed that the proposed method can control the error precision at a centimeter degree for the robot localization,which can basically meet the requirements of indoor robot localization.
出处
《信息技术》
2015年第8期54-56,共3页
Information Technology
基金
辽宁省教育厅科学计划项目资助(L2013463)
关键词
机器人定位
三边测量法
最小二乘法
温度补偿
robot localization
three edge measurement
least square method
temperature compensation
