作　　者： (卢清秀）; ;

机构地区： 广东工业大学华立学院

出　　处： 《激光杂志》 2019年第4期188-191,共4页

摘　　要： 针对当前机器人全局定位系统存在的灵活性和抗干扰性较差、定位准确性不理想的问题,提出并设计基于动态跟踪测量的机器人激光全局定位系统。硬件设计部分,将电源供应定义为3. 3 V、5 V及0～5 V可调式电压,并利用AS117专用的集成式稳压芯片实现电源的稳压;通过FYD12864-0402B实现机器人定位系统的可视化,将系统的8个I/O口与绿色发光二极管连接,对系统指示灯进行调试;根据系统光电检测和抗干扰单元辅助机器人定位、抵御定位过程中的干扰;利用系统通讯单元的串行式通信模式实现机器人激光全局定位各单元通信。以硬件设计结构为依据,通过动态跟踪激光测距设备对机器人运动环境特征进行感知,获取机器人所处环境信息数据,并对信息数据特征进行识别,得到机器人运动环境全局地图。利用机器人的里程计信息与前一刻机器人位姿预测当前时刻机器人位姿,将激光传感器的测距信息数据与特征地图配准,并更新机器人当前位姿,完成机器人全局定位。实验结果表明,该系统灵活系数和抗干扰系数大、定位精度高,具有可信性。 Aiming at the problems of poor flexibility, anti-jamming and poor positioning accuracy in the current robot global positioning system, a robot laser global positioning system based on dynamic tracking measurement is proposed and designed. In the part of hardware design, the power supply is defined as 3. 3V、5V and 0V ~5V adjustable voltage, and the power supply is stabilized by AS117 integrated voltage stabilizer chip, and the visualization of bot positioning system is realized by FYD12864-0402 B. The eight I/O ports of the system are connected with the green light emitting diode, and the system indicator lamp is debugged;according to the photoelectric detection and anti-jamming unit of the system The system uses serial communication mode of system communication unit to realize robot laser global positioning unit communication. Based on the hardware design structure, the dynamic tracking laser rangefinder is used to perceive the moving environment of the robot, to obtain the environment information data of the robot, and to identify the information data features. The global map of robot motion environment is obtained. Using the odometer information of the robot and the position and pose of the robot at the previous moment to predict the pose of the robot at the current moment, the ranging information data of the laser sensor are registered with the feature map, and the current posture of the robot is updated to complete the robot. Global positioning. The experimental results show that the system has high flexibility coefficient and anti -interference coefficient, high positioning accuracy and credibility.

关 键 词： 动态跟踪测量 机器人 激光 全局 定位系统

领　　域： [电子电信—物理电子学]