摘要
研究了Millibot类型自重构机器人的红外定位及对接方法.在该方法中,设定一个静止的信标机器人,移动机器人利用红外传感器定位,安装在移动机器人前端连接件上的两个红外传感器分别在步进电机的驱动下旋转,它们发出的红外光分别被信标机器人后端连接件上的两个反射体反射回来.利用此时得到的步进电机旋转角度参数,通过三角法就能计算出移动机器人与信标机器人的相对位置,进而规划出移动机器人的对接过程和运动轨迹.移动机器人沿着该轨迹行走就能实现与信标机器人的对接.给出了自重构机器人的原理样机,并用试验验证了该方法的有效性.
A positioning and docking method in self-reconfiguration based on infrared sensors for mobile type of robots is presented. In the process, a still robot is regarded as a beacon, while a moving robot driving itself toward it with infrared sensors for localization and completes the docking process. Two infrared sensors on top of the front-end attachment of the moving robot are rotated by two stepper motors and the infrared ray emitted are reflected respectively by the two reflectors on top of the backend attachment of the beacon robot. The four angles of rotation obtained from the two stepper motors, two for each motor, are the input to a triangulation procedure that evaluates the position and orientation of the moving robot relative to the beacon robot. Then the trajectory generation and tracking enable the moving robot to dock with the beacon robot. A prototype system has been constructed, and experiments showed the feasibility of the method.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2006年第10期879-882,共4页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(06104040)
