摘要
通过分析揭示了超声波网络导航系统测位误差主要来源于超声波接收器高度误差、超声波传输距离测量误差、超声波接收器在水平面内的二维位置误差。它们的综合作用构成了移动机器人的位置公差带 ,但受到所选三个超声波接收器分布方式的影响。实验检测结果证实了该分析结果的有效性 。
Position detection system using ultrasonic receiver net is employed to navigate mobile robot. It detects position of mobile robot moving in wide area with higher precision, without influence of obstacles on ground, and works even on bad visibility and dirty environmental conditions. These advantages make it very useful for navigating mobile robot in workshop. In this paper, it is exposed by analysis that position detection error results from height error, position error of ultrasonic receivers horizontally, and distance measurement error of ultrasonic wave transmitted. It is subjected to ultrasonic receive angle easily. Mobile robot position is estimated from three horizontal circles. Its position tolerance is depended on separation of intersect points and distributed directions of the three circles. It is verified by experimental results that the proposed error analysis method is effective.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2003年第9期724-727,共4页
China Mechanical Engineering
基金
教育部留学回国人员科研启动基金资助项目 ( 2 0 0 2-2 47)
