Robot Navigation
Robot Navigation
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机器人导航
DOI：
10.1002/9781119534839.ch4
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
STMicroelectronics UniCT
中科院分区：
文献类型：
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作者：
Giuseppe Spampinato;STMicroelectronics UniCT
本章介绍导航的主题以及实现导航的各种方法。重点是惯性导航系统（万向架和捷联式）和全球定位系统。导航中的一个重要因素是对不同坐标系的理解。差速轮转向机器人使用推导推算来跟踪其位置。航位推算通常使用轴编码器或类似的设备来测量车轮的角旋转。倾角仪-罗盘测量纵轴围绕原始z轴的旋转，即，偏航，通过数字罗盘它测量纵轴相对于原始xy平面的角度，即，通过重力矢量来俯仰。倾角仪/罗盘的姿态测量可用于将图像从机器人坐标转换为地球坐标。
This chapter introduces the topic of navigation and the various means of accomplishing this. The focus is on Inertial Navigation Systems (gimbaled and strap‐down) and the Global Positioning System. One important factor in navigation is an understanding of the different coordinate systems. A differential‐wheel steered robot uses deduced reckoning to keep track of its position. Dead Reckoning typically uses shaft encoders or similar devices to measure the angular rotation of the wheels. Inclinometer–Compass measures the rotation of the longitudinal axis about the original z axis, i.e., yaw, via a digital compass. It measures the angle of the longitudinal axis with respect to the original xy plane, i.e., pitch, via the gravity vector. The attitude measurement from the Inclinometer/Compass could be used to convert the image from robot coordinates to earth coordinates.