摘要
设计了一种移动机器人实时轨迹测量系统,主要包括激光扫描仪、数据采集计算机、无线通讯网络和数据处理显示软件4个部分。测量系统采用两台激光扫描仪从不同高度测量机器人身上安装的标志杆的位置,将测量数据经过位置识别和坐标系对准后,传输到一台计算机上进行融合,采用卡尔曼滤波器消除测量随机误差,绘制出机器人的运动轨迹。实验结果表明,测量系统可以在较大的测量范围内实现厘米级测量精度和目标分辨率的轨迹测量,为移动机器人的设计开发和导航控制等研究领域提供了良好的实验测试平台。
A kind of laser scanners based real-time trajectory measurement system for mobile robot is proposed. The system consists of four main components： laser scanner, data acquisition computer, wireless communication network and data process software. Two laser scanners measure the sign pole of the robot in different lev- els to localize the robot, and the measurement data are transferred to one computer and fused after position identifying and coordinate matching. The measurement stochastic error is eliminated by Kalman filter, and the trajectory of mobile robot is painted. The results of experiments show that the measurement system can achieve the measurement precision and object resolving power about centimeters in a large measurement range, and that provides a good experiment measurement platform for design of mobile robot and robot navigation control research fields.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2007年第4期981-987,共7页
Acta Aeronautica et Astronautica Sinica
基金
"985"计划(204023)
关键词
激光扫描
移动机器人
运动轨迹
实时测量
卡尔曼滤波
laser scanner
mobile robot
movement trajectory
real-time measurement
Kalman filter
