基于光流传感器的移动机器人定位方法

摘要

详细介绍了光流传感器移动机器人定位系统的运动学原理,给出了理论模型推导;基于理论模型,搭建了基于光流传感器实验装置,将3只传感器置于移动机器人的固定位置,通过运动学几何关系,解算机器人的位姿;在室内进行了移动机器人的导航实验,推算了机器人的预测轨迹.实验证明了理论的可行性,可以作为短距离定位的一种导航方案.%Kinematics principle of flow sensor positioning system is introduced in detail;theoretical model derivation is given;based on theoretical model,experimental device based on optical flow sensor is set up. Three sensors are set in fixed position of mobile robot. Through Kinematics geometry relation,pose of robot is resolved. Navigation experiment of mobile robot is carried out in indoor,predicted trajectory of robot is reckoned. Feasibility of theory is proved by experiment,and it can be a navigation scheme for short-distance positioning.