基于北斗系统的履带移动机器人定位设计与实现

摘要

In view of the various deviations of the tracked mobile robot in the autono-mous cruise,it is required to view the demand of traveling trace.A BeiDou Positioning Sys-tem Based on C805 1F020 MCU and UM220-3 BeiDou module was designed,which was com-bined with the MT-FR type mobile robot.The positioning data collected by the BeiDou mod-ule was transmitted to the PC,and the moving track of the mobile robot was displayed on the Google earth after being stored and processed,and the accuracy of the module was analyzed. The results show that the moving trajectory of the mobile robot can be clearly seen in the map,which provides reference value for the improvement of the structure and the control system of the tracked mobile robot.%针对履带移动机器人在自主巡航时出现的各种偏差，需查看行驶轨迹需求，设计了一款利用 C8051F020型单片机与 UM220-3北斗模块搭建的北斗定位系统，并将其与 MT-FR 型移动机器人结合起来，通过单片机模块将北斗模块采集的定位数据传送给 PC 机，经存储与处理后在谷歌地球中显示出移动机器人的运动轨迹，并分析了其精度。结果表明，在地图中能够清晰地看见移动机器人的行驶轨迹且精度较好，为纠正偏差改进履带移动机器人的结构及控制系统提供参考价值。