摘要: 根据微小型仿生六足机器人的作业任务和工作环境要求,搭建一套基于嵌入式数字信号处理器TMS320VC 5509A DSP和Superstar II GPS接收板卡的机器人导航系统。采用Marconi Binary串行数据传输标准协议采集全球定位系统(GPS)的定位数据,提出用切面投影定位法对GPS提供的定位数据进行坐标转换,并根据转换后的结果对仿生六足机器人的航迹进行修正。实验结果表明该导航定位系统具有良好的实时性和定位精度。
关键词:
导航定位,
全球定位系统,
仿生六足机器人
Abstract: This paper establishes a navigation and localization system of biologically inspired hexapod robot based on the TMS320VC 5509A DSP and Superstar II GPS receiver. In order to improve the navigation system’s real-time performance, Marconi Binary serial data communication protocol is used, and a novel coordinate transform and navigation algorithm is proposed. The approach is implemented and tested under experimental environments, which demonstrates its real-time performance, effectiveness, robustness and high efficiency.
Key words:
navigation and localization,
GPS,
biologically inspired hexapod robot
中图分类号:
赵小川;罗庆生;韩宝玲;肖 伟. 基于GPS的仿生六足机器人实时导航定位[J]. 计算机工程, 2009, 35(12): 166-168.
ZHAO Xiao-chuan; LUO Qing-sheng; HAN Bao-ling; XIAO Wei. Real-time Navigation and Localization for Biologically Inspired Hexapod Robot Based on GPS[J]. Computer Engineering, 2009, 35(12): 166-168.