摘要
在利用超声波网络进行室内移动机器人的导航中采用三点测位方式。在理论上 ,有三个圆相交于一点即移动机器人的位置。但实际上由于测量数据误差的存在 ,这三个圆并非相交于一点而是三点。这三个交点构成一个小圆弧三角形区域 ,使移动机器人的位置确定复杂化。本文提出一种位置计算方法 ,取它的内切圆心位置代表移动机器人的位置。理论分析与应用于实验数据的结果表明 ,所取的代表点与移动机器人的实际位置充分接近 ,满足一般移动机器人的精度要求 。
This paper proposes a position calculation method for mobile robot navigated with ultrasonic net. Three points measure method is employed to calculate the position of the mobile in ultrasonic net navigation, and there are three circles to intersect at one point of mobile position theoretically. In practice they intersect at not one point but three points for errors of measured datas. The three intersected points form a triangle, and the center of its inner tangent circle is selected as actual mobile position. Theoretical analysis and application results to some experiment datas show that the selected point is enough near the actual mobile position. So it is proved that the proposed calculation method is available and useful.
出处
《机器人技术与应用》
2002年第3期36-39,共4页
Robot Technique and Application
