Study on combined positioning system of mobile robot

LU Huilin

doi:10.13873/J.1000-9787(2020)12-0053-04

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Study on combined positioning system of mobile robot

更新时间：2025-09-11

- Study on combined positioning system of mobile robot
- Issue 12, Pages: 53-56+60(2020)
- 作者机构：
  
  江苏省无线传感系统应用技术研发中心
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)12-0053-04
  CLC： TP242
- Published：2020
- 稿件说明：
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LU Huilin. Study on combined positioning system of mobile robot[J]. 2020, (12): 53-56+60.
DOI：

LU Huilin. Study on combined positioning system of mobile robot[J]. 2020, (12): 53-56+60. DOI： 10.13873/J.1000-9787(2020)12-0053-04.

摘要

基于惯性导航、双磁钉定位和视觉定位对移动机器人组合定位系统进行了研究。基于磁定位原理

提出了双磁钉绝对定位模型

增加了对惯性导航角度误差的补偿

完成了双磁钉绝对定位移动机器人;针对仓库内存在部分区域干扰磁信号

基于图像处理技术与Skeleton算法

提取了精度更高的色带路径偏差数据

并建立了与双磁钉定位相同的修正惯性导航累积误差的模型

完成了移动机器人在世界坐标系中的分区域绝对定位。

Abstract

Based on inertial navigation

dual magnetic nail positioning and visual positioning

mobile robot combined positioning system is studied. Based on the principle of magnetic positioning

a dual magnetic nail absolute positioning model is proposed

which adds compensation for inertial navigation angle error

and completes the dual magnetic nail absolute positioning mobile robot. Aiming at the interference magnetic signals in some areas in the warehouse

based on the image processing technology and Skeleton algorithm

ribbon path deviation data with higher precision is extracted. The same model for cumulative error of inertial navigation as the dual magnetic nail positioning is established

and the absolute positioning of the mobile robot in the world coordinate system by region is completed.

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Related Institution

Key Laboratory of Sensor,Beijing Information and Technology University

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