机器人楼层内组合定位系统

Combined Positioning System of Robot in Floor

为实现移动机器人楼层内的自主定位,研究了基于编码器和陀螺仪的相对定位,基于超声波传感器结合地图信息的走廊路口的绝对定位和基于机器视觉的目标房间位置绝对定位相组合的定位方法。设计和实现了该组合定位系统,根据需求完成定位总体方案设计、走廊相对定位设计、走廊路口和目标门牌位置绝对定位设计,并选用合适的传感器,以实验室轮式移动机器人为对象对组合定位系统进行实验验证。实验结果表明:该组合定位系统在楼层内定位误差不超过30 cm,在目标位置处的定位误差不超过15 cm,能实现在整个楼层内的精确定位。

To realize autonomous positioning of mobile robot in floor, studying on the combined positioning, which included relative positioning based on encoder and gyroscope, absolute positioning of corridor combined with map information based on ultrasonic sensor and absolute positioning of target room position based on machine vision. This paper designed and realized the combined positioning system, to meet the working requirements, completed the overall plan design of positioning, relative position design of corridor, absolute positioning design of corridor intersection and the target doorplate. The appropriate sensor was selected and the verification experiment of the combined positioning system was carried out based on the wheeled mobile robot of laboratory. The experimental results showed that the positioning error of the system is not more than 30 cm, and the positioning error at the target location is not more than 15 cm. The combined positioning system can realize accurate positioning in floor.