东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2004, Vol. 25 ›› Issue (1): 24-27.DOI: -

• 论著 • 上一篇    下一篇

自主移动机器人三角定位的路标优化

张祥德;牛纪祥;董再励   

  1. 东北大学理学院;东北大学理学院;中国科学院机器人学开放研究实验室 辽宁沈阳　110004
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2004-01-15 发布日期:2013-06-24
  • 通讯作者: Zhang, X.-D.
  • 作者简介:-
  • 基金资助:
    辽宁省科学技术基金资助项目(002010);;沈阳市科学技术基金资助项目·

Landmarks optimization of triangulation of autonomous mobile robot

Zhang, Xiang-De (1); Niu, Ji-Xiang (1); Dong, Zai-Li (2)   

  1. (1) Sch. of Sci., Northeastern Univ., Shenyang 110004, China; (2) Robotics Lab., Chinese Acad. of Sci., Shenyang 110015, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2004-01-15 Published:2013-06-24
  • Contact: Zhang, X.-D.
  • About author:-
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摘要： 针对给出的机器人三角定位算法,推导出路标设置对定位影响的几何精度标准,证明了参与定位的路标数目为3个和3个以上的情况下,如果路标与机器人的距离都相等,那么当相邻路标与机器人所成夹角都相等时,机器人的定位精度最高;进而给出了最优路标选取算法·实验和实践结果也进一步证明所得结论的有效性·

关键词: 移动机器人, 三角定位, 定位精度, 最优路标, 循环群

Abstract: A geometric precision criterion is deduced for robot triangulation, showing the effect of landmark set-up on robot localization. It is proved that the precision of robot localization will be the highest one if all the distances between the robot and every landmark are equal to each other and then both the angles included between two adjacent landmarks to the robot are also equal to each other in case the number of relevant landmarks is not less than three. An optimal selection algorithm of landmarks is thus given. Experimental results showed further the validity of the conclusion as above.

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