基于局部定位系统的群机器人导航与编队

Helmy Widyantara, Mas Aly Afandi, Ristanti Akseptori, Ubaidilah Umar
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引用次数: 1

摘要

本文讨论了将局部定位系统(LPS)应用于移动机器人差动转向平台的导航和机器人编队方法。在群体机器人中,由于机器人位置坐标的存在,使得机器人的导航和编队能够很好地运行。在坐标的室外应用中,利用全球定位系统(GPS)可以方便地获得机器人的位置,但GPS在室内应用中存在缺陷。在室内使用时,卫星发出的信号难以获得,距离较短的使用也不准确。在坐标研究中,定位使用的是利用低功耗蓝牙(Bluetooth Low Energy, BLE)建立的LPS。利用简单的资源,以低廉的价格成功构建了具有BLE的LPS。用BLE和回归算法建立的LPS精度在x轴上误差4.33%,在y轴上误差2.67%。机器人编队利用了接近传感器和从LPS获得的位置坐标的组合。接近传感器用于探测阻碍机器人向预定目标前进的障碍物。与单个机器人相比,导航算法和群体编队机器人的结合被证明在寻找目标方面更快。
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Navigation and Formation of Swarm Robotics with Local Positioning System
This paper discussed the method of navigation and robot formation in a swarm using the Local Positioning System (LPS) which was applied to the mobile robot's differential steering platform. Navigation and formation of robots in swarm robotics could run well because of the presence of robot position coordinates. In the outdoor application of coordinates, the position of the robot could be obtained easily using the Global Positioning System (GPS), but GPS had drawbacks in indoor applications. In indoor use, signals from satellites were difficult to obtain and inaccurate for use with relatively short distances. In coordinate research, positioning used LPS which was built using Bluetooth Low Energy (BLE). LPS with BLE was successfully built with simple resources and at a low price but had optimal performance. The LPS accuracy built with BLE and the regression algorithm had an error of 4.33% on the X-axis, and 2.67% on the Y-axis. The robot formation utilized a combination of proximity sensors and position coordinates obtained from LPS. The proximity sensor served to detect obstacles that hold the robot towards a predetermined target. The combination of navigation algorithms and swarm formation robotics was proven to be faster at finding targets compared to a single robot.
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