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題 名 | Deployment Strategies of Localization Systems for Autonomous Robot Navigation=自主機器人定位導航部署策略 |
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作 者 | 葉富鈞; 林均翰; 金仲達; | 書刊名 | 中州學報 |
卷 期 | 26 2007.12[民96.12] |
頁 次 | 頁127-143 |
分類號 | 448.94 |
關鍵詞 | 誤差模型; 機器人定位; 校正策略; 部署算法; Error model; Robot localization; Calibration strategy; Deployment algorithm; |
語 文 | 英文(English) |
中文摘要 | 本論文提供一種針對運動平台在自主移動時的導航定位修正系統之部署方法,自主式機器人在行走時會因機構接合的間隙或路面與輪胎的摩擦等因素而產生定位累積誤差的增加,本研究設置有位移信號接收器之定位修正器,其主要放置於機器人本體,可接收及處理其位移信號接收器所接收之距離訊號,用於進行定位估算及誤差修正,並輸出一訊號以移動該機器人本體至預先設定的位置。其有數個固定位置發射器之定位修正站,裝置於該機器人行經路徑的某些特定位置,機器人在進入此定位修正站可成應的範圍內時,即可透過該修正站來降低自主式機器人的累積誤差,使機器人在所有行走期間,其累積誤差都能經過修正站的過時修正而維持在最大誤差的限制範圍內。建立機器人行走的三種誤差模式,分別為點定位誤差模式、直線行走定位誤差模式及轉角定位誤差模式,機器人在自主行走時,將根據此三種誤差模式以估算行走的累積誤差。提出兩種計算機器人定位累積誤差的演算法,供決定部署修正站的位置及計算需求的修正站數量。 |
英文摘要 | In this paper, we consider autonomous robots with build-in navigation systems. When the robots move, positioning errors will occur and accumulate in their navigation system due to factors such as mechanical imprecision and surface frictions. To correct the positioning errors, localization systems, such as Cricket, can be deployed along the routes to provide references to the actual position of the robots. The question is how many such correction stations are needed and where to deploy them so that the positioning errors of the robots can be limited within a given range. We propose two deployment algorithms, Full Deployment (FD) and Breadth-first Deployment (BFD), to address the above problem. The algorithms consider different error models for correction station deployment. We evaluate FD and BFD by simulations. The results show that FD and BFD have different features. FD uses more correction stations than BFD. However, average errors in FD are lower than that in BFD. |
本系統中英文摘要資訊取自各篇刊載內容。