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1、第29卷 第5期自 动 化 学 报Vol129,No152003年9月ACTAAUTOMATICASINICASept.,20031)AccuratePositioninginRealTimeforMobileRobotXUDeTANMin(LaboratoryofComplexSystemsandIntelligenceScience,InstituteofAutomation,ChineseAcademyofSciences,Beijing100080)(E2mail:xude@compsys.ia.ac.cn)AbstractTheimprovementofde
2、adreckoningispresented.Accordingtothemovementtrajectoryandstatusofamobilerobot,anewkinematicsmodelforthemobilerobotisderivedusingcoordinatetrans2formationbasedontheturningradiusandangle.Andtheturningradiusandangleareobtainedfromtheyawingangleinformationandtheodometerinformationofthethre
3、ewheelsusingfuzzyfusiontechnolo2gy.Combiningtheactivebeaconwithimproveddeadreckoning,anewaccuratepositioningmethodforindoormobilerobotisproposed.Thesimulationshowsthatithascharacteristicssuchasgoodperfor2manceinrealtime,highaccuracy,lowcostandgoodrobustness.Itisalsosuitableforroughgroun
4、d.KeywordsMobilerobot,positioning,kinematics,fuzzyfusion1IntroductionLocalizationisthefoundationofmobilerobots,andaccuratelocalizationinrealtimeisakeyfactortoimprovetheirperformance,whichisoneoftheresearchhotspotsintheareaofmobilerobots.Themethodsoflocalizationcanbedividedintotwocategor
5、ies:therelativeandtheabsolute.Therelativemethods,whicharealsocalleddeadreckoning(DR),canbefurtherdividedintoodometryandinertialnavigation(IN).Theabsolutemethodsincludeglobalposi2tioningsystem(GPS),activebeacon(AB),magneticcompasses(MC),landmarknavigation[1](LN)andmapmatching(MM).Theyhav
6、edifferentcharacteristics,butonlyDR,AB,LNandMMaresuitableforindoormobilerobots.Odometry,therepresentativeofDR,isofgreatinterestforitslowcostandgoodperformanceinrealtime.ItiscommontocombineDRwithotherabsolutepositioningmethodsforbetterpositioningresultsthroughinformationfusion.Thiscombin
7、ationtakesadvantageofthehighaccuracyofpositioningofDRinsmallrangeand[2～5,11]theabsolutemethodsinlargerange.Lazeastudiedthekinematicsandinversekinemat2[6]icsmodelsofmobilerobotsin1996.ChongandKleemanpresentedakindofDRtoestimate[7]positionandorientationerrorsofamobilerobotbymeans
