Research on localization of mobile microrobot based on infrared sensor

MAO Ling; LI Zhen-bo; ZHANG Da-wei; CHEN Jia-pin

doi:10.13873/J.1000-9787(2014)12-0038-04

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Research on localization of mobile microrobot based on infrared sensor

更新时间：2025-09-11

- Research on localization of mobile microrobot based on infrared sensor
- Vol. 33, Issue 12, Pages: 38-41(2014)
- 作者机构：
  
  上海交通大学薄膜与微细技术教育部重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2014)12-0038-04
  CLC： TP212;TP242
- Published：2014
- 稿件说明：
移动端阅览
[1]毛玲,李振波,张大伟,陈佳品.基于红外传感器的移动微机器人定位研究[J].传感器与微系统,2014,33(12):38-41.

MAO Ling, LI Zhen-bo, ZHANG Da-wei, et al. Research on localization of mobile microrobot based on infrared sensor[J]. 2014, 33(12): 38-41.
[1]毛玲,李振波,张大伟,陈佳品.基于红外传感器的移动微机器人定位研究[J].传感器与微系统,2014,33(12):38-41. DOI： 10.13873/J.1000-9787(2014)12-0038-04.

MAO Ling, LI Zhen-bo, ZHANG Da-wei, et al. Research on localization of mobile microrobot based on infrared sensor[J]. 2014, 33(12): 38-41. DOI： 10.13873/J.1000-9787(2014)12-0038-04.

摘要

综合概率论的思想

采用基于红外传感器的微机器人粒子滤波定位方法在已知环境中实现微机器人的自定位。因微机器人受尺寸效应影响无法安装位置传感器

故采用计步的方法存储机器人的运动信息。观测模型采用适合小尺寸微型机器人的红外测距地图匹配方式。因微机器人的存储能力有限

故采用分块存储地图的方法

便于微机器人快速加载地图而完成地图匹配

从而加速其定位过程。实验验证了微机器人的定位性能。

Abstract

Synthesizing the idea of probability theory

use particle filtering positioning method of microrobot based on infrared sensor for self-localization of microrobot in known environment.Position sensor can not be installed in microrobot due to size effect

so motion information is stored by step method.Observation model uses the map matching method with infrared distance measurement map

which is suitable for small size microrobot.Because of limited storage capability of microrobot

method of block storage map is used

to suitable for microrobot rapid loading map and complete the map matching

so as to accelerate process of localization.Localization characteristics is verified by experiments.

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