A Low-Cost Indoor Positioning System
A Low-Cost Indoor Positioning System
复制标题
低成本室内定位系统
DOI：
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
André Kramer Orten
中科院分区：
文献类型：
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作者：
André Kramer Orten
Eurobot是一年一度的机器人竞赛。来自不同国家的团队主要由学生组成，但也有独立的团队参加。今年的冠军是机器人，比赛在瑞士的伊韦尔东-莱斯-班斯举行。这是UiO第一年参加比赛，机器人的所有部件都需要开发。游戏桌也是按照规则中所列的尺寸和规格建造的。这是为了便于修改，以适应未来一年的任务。本论文的主要目的是为奥斯陆大学（UiO）即将参加的欧洲机器人竞赛进行技术研究和奠定基础。本文主要研究了机器人的导航定位系统和传感器系统。一个低成本的信标定位系统，使用红外编码和旋转塔已经开发和测试。卡尔曼滤波器被用来将里程计和信标系统联合收割机结合起来，以获得更好的位置估计。然而，当机器人移动和旋转时，信标系统不能充分工作。导航和传感器部分的所有代码都是用C++编写的。设计了一个硅胶轮子，以提高抓地力，确保不会发生车轮打滑，使基于里程计的位置非常可靠。为了避免碰撞，在机器人的前部和后部都安装了接近传感器。一台个人计算机（PC）被用来控制机器人。对于所有不同系统之间的通信，使用了消息库零消息队列（ZMQ）。ZMQ是一个高性能的异步消息传递库。它是最容易使用的消息库之一，也是最快的消息库之一。在这个项目中工作得很好。
Eurobot is an annual robotics competition. Teams from different countries composed of mostly students but also independent teams participate. This year’s title was Robomovies, and the competition were held in Yverdon-Les-Bains in Switzerland. It is the first year UiO participated in the competition, and all parts of the robot needed to be developed. The game table was also build according to the measures and specifications listed in the rules. This has been designed so that it easily can be modified to fit future year’s tasks. The main goal of this thesis is to research technologies and establish the foundation for coming participants in the Eurobot competition from University of Oslo (UiO). This thesis focus on the navigation and position system of the robot and the sensor system. A low cost beacon based positioning system using infrared codes and a rotating tower has been developed and tested. A Kalman filter was used to combine the odometry and the beacon system for a better position estimate. However, the beacon system did not work sufficiently when the robot was moving and rotating. All the code for the navigation and sensor part have been written in C++. A silicone wheel was designed in order to improve the grip ensuring that no wheelspin would occur making the position based on the odometry quite reliable. In order to avoid collision, proximity sensors were mounted both on the front and the back of the robot. A personal Computer (PC) was used to control the robot. For the communication between all the different systems the message library Zero Message Queue (ZMQ) has been used. ZMQ is a high-performance asynchronous messaging library. It is one of the easiest message library to use, as well as being one of the fastest. And worked well in this project.
影响因子：
5.2
作者：
M. Spong;S. Hutchinson;M. Vidyasagar
通讯作者：
M. Spong;S. Hutchinson;M. Vidyasagar