CAJ | 학술논문

针对小区安防监控机器人移动定位的准确性、实时性,提出基于光电传感器和电子罗盘的多信息融合的移动定位算法.该算法将机器人单位时间内位移和方位角的变化量作为输入条件,基于矢量方程构建机器人的位移变换范围,然后通过消除累积误差,确定机器人的准确位置.实验结果表明,该方案有效的解决了小区安防监控机器人的定位问题,而且在路面相对平整的生活小区中表现出较好的定位准确性和实时性.
침대소구안방감공궤기인이동정위적준학성、실시성,제출기우광전전감기화전자라반적다신식융합적이동정위산법.해산법장궤기인단위시간내위이화방위각적변화량작위수입조건,기우시량방정구건궤기인적위이변환범위,연후통과소제루적오차,학정궤기인적준학위치.실험결과표명,해방안유효적해결료소구안방감공궤기인적정위문제,이차재로면상대평정적생활소구중표현출교호적정위준학성화실시성.
Because the position monitoring of the mobile robot requires accurate and real-time,the article put forward the mobile positioning algorithm of multiple information fusion. The distance of the mobile robot in the fixed time interval and the direction of the robot are the input condition of the algorithm. Based on vector equation,we can get the change in the x and y,this position of the robot always has certain deviation,we set some?anchor point in the corner,decreasing the deviation of the position. the algorithm is effective to get the position of the security monitoring?robot In living community where the road surface of living community is relatively smooth,the technology of position monitoring showed better accuracy and real-time performance.