摘要
提出一种基于人工路标的移动机器人精确停靠系统,该系统可使机器人停靠在可观测到路标的区域内的不同位置和朝向,停靠重复精度高,对环境的改造程度小且路标位置不需要准确标定。此外,还提出了一种基于Fisher信息矩阵的多边形路标优化设计方法,通过此方法得到了满足毫米级定位要求的人工路标结构。最后通过实验验证了停靠系统的有效性。
An artificial landmark-based precise docking system was proposed and it can enable robots to dock at various sites and directions within the areas where landmark can be observed and it has high docking repeat- ability and requires little in improving the docking condition and calibrating the landmark sites. In addition, a Fisher information matrix-based method of designing and optimizing the polygon landmark was proposed to ob- tain a landmark structure which satisfying millimeter-level localization requirements. The experimental result verifies the effectiveness and accuracy of the docking system proposed.
作者
方宇凡
王景川
王磊
FANG Yu-fan;WANG Jing-chuan;WANG Lei(College of Electronic Information and Electrical Engineering, Shanghai Jiaotong University;Yantai Port Information and Communication Co. , Ltd.)
出处
《化工自动化及仪表》
CAS
2018年第4期284-288,293,共6页
Control and Instruments in Chemical Industry
基金
上海市科委创新行动计划项目(16111104802)
关键词
移动机器人
定位
人工路标
mobile robot, location, artificial landmark
