摘要
设计了一种适用于球形机器人的光电寻迹系统,利用简化的三次样条插值法求解球形机器人的行走路径,并分别采用第1类边界条件和第2类边界条件进行球形机器人路径轨迹的拟合计算。在光电元器件数量一定的前提下,通过增加虚拟检测点,减小机器人路径检测误差,提高系统的寻迹精度,使得球形机器人可以探测到红外管探测范围以外的轨迹,降低系统成本。实验研究表明该方法具有良好的可行性。
A photo-electric track system for a spherical robot is designed, which utilizes the spline interpolation method to estimate the trajectory of the robot via the ]st and 2nd condition as interpolation boundary. Under the certain photo-electric units, some virtual detection points are added to reduce the detection errors and the cost and improve the accuracy of detection system. Furthermore, the robot can track follow exactly even if the trajectory is out of the detection region. Results show that the proposed method is effective practically.
出处
《华东理工大学学报（自然科学版）》
CAS
CSCD
北大核心
2013年第6期730-738,共9页
Journal of East China University of Science and Technology
基金
山东省自然科学基金(2009ZRA01105)
山东省泰安市科技发展计划(201320629
20083002
20092016)
关键词
球形机器人
光电寻迹
样条插值
路径检测
spherical robot~ photo-electric track~ spline interpolation~ path detection
