摘要
提出一种应用于废墟搜救机器人的空间形状重建与搜救目标定位的方法.为了重建3.5 m机器人本体空间的曲线形状,自主设计了一根大长度的光纤光栅(fiber Bragg grating,FBG)曲率传感器来检测空间曲率信息,把离散的空间曲率拟合成空间曲线来实现形状重建.采用电子罗盘检测形状重建基准点的空间姿态,最终实现搜救目标的定位.经过实验数据分析可知,该形位检测系统的目标定位误差为10 cm左右,基本满足废墟中搜救机器人对搜救目标的定位要求.通过加入三轴电子罗盘的位姿检测,使得形位检测系统更加有效和实用.
This paper presents a method of spatial shape rebuilding and target positioning for a robot used in searching and rescuing lives in ruins.In order to rebuild a spatial curve representing the shape of the robot body which is 3.5 m long,a long curvature sensor is designed based on fiber Bragg grating（FBG） to detect spatial curvature information,and the spatial curve fitting is realized based on these discrete spatial curvatures.After shape rebuilding,this paper realizes searching and rescuing target positioning using a three-axis electronic compass to detect posture of the datum point of shape rebuilding.Experimental data show that the targeting error is about 10 cm which basically meets the target positioning requirements of robots.With the posture detection of a three-axis electronic compass,the shape and position detection system becomes more effective and practical.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
北大核心
2011年第3期253-258,共6页
Journal of Shanghai University:Natural Science Edition
基金
国家高技术研究发展计划(863计划)资助项目(2007AA041502-6)
国家自然科学基金资助项目(90716027)
关键词
光纤光栅
形状重建
电子罗盘
定位
fiber Bragg grating（FBG）
shape rebuilding
electronic compass
positioning
