服务机器人的室内定位研究及实现

摘要

With the development of the robot technology,the indoor localization method and the precision demand of the robot are also more and more high.The solid four wheel robot kinematics modeling,according to the robot's translational and rotational transformation of the spatial coordinates are modeled by inspired by the principle of GPS positioning,using four pieces of high performance single chip computer and robot simulation of indoor robot positioning system in the indoor environment,based on experimental platform of positioning experiments of the system verify,through contrast PC control walking trajectory and using the walking trajectory for the indoor positioning system,the experimental results were imported into MATLAB simulation and compared before and after the robot walking track diagram,to verify the accuracy of the positioning system.%随着机器人技术的日益发展,机器人的室内定位方法和精度要求也越来越高.文章针对实体四轮机器人进行运动学建模,根据机器人的平移与转动对其空间坐标的转换进行了数学建模,受到GPS的定位原理的启发,利用四片高性能单片机与机器人在室内环境下模拟室内机器人定位系统,基于实验平台进行定位实验研究对该系统进行验证,通过对比pc机控制行走轨迹与采用该室内定位系统后的行走轨迹,将实验结果导入到MATLAB中进行仿真,对比前后的机器人行走轨迹图,验证了该定位系统的准确性.