基于一维激光测距仪的室内移动机器人定位

提出了一种利用安装在云台上的一维激光测距仪对移动机器人进行定位的方法.首先将机器人坐标系建立在云台上,并建立室内固定的参考坐标系,利用云台获取的旋转角以及一维激光测距仪采集到的距离信息对云台和一维激光测距仪标定.由激光测距仪扫描得到参考坐标系三轴上的三个点A、B、C求得移动机器人在室内参考坐标系下的定位.实验证明,该方...

Localization Method Based on One-dimensional Laser Range Finder for Indoor Mobile Robot

This paper provides a method for indoor mobile robot localization based on the one-dimensional laser range finder. In this approach,the robot coordinate is created on the pan-tilt, and the fixed reference coordinate is built in the room. Then the rotation angle obtained by the pantilt and the distance information acquired by the laser range finder were used to calibrate the pan-tilt and the laser range finder. The indoor mobile robot is located by the three point A,B,C on the three axes of the reference coordinate scanned by the laser range finder. The proposed method is tested through many experiments and is proved to be flexible and practical. Therefore, it can simplify the mobile robot localization process and its location accuracy can well meet the needs of the project.