计算机工程 ›› 2009, Vol. 35 ›› Issue (12): 166-168.doi: 10.3969/j.issn.1000-3428.2009.12.059

• 人工智能及识别技术 • 上一篇    下一篇

基于GPS的仿生六足机器人实时导航定位

赵小川1,罗庆生1,韩宝玲2,肖 伟3   

  1. (1. 北京理工大学机电学院,北京 100081;2. 北京理工大学机械与车辆工程学院,北京 100081;3. 北京航空航天大学机械工程及自动化学院,北京 100083)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2009-06-20 发布日期:2009-06-20

Real-time Navigation and Localization for Biologically Inspired Hexapod Robot Based on GPS

ZHAO Xiao-chuan1, LUO Qing-sheng1, HAN Bao-ling2, XIAO Wei3   

  1. (1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081; 2. School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081; 3. School of Mechanical Engineering & Automation, Beihang University, Beijing 100083)
  • Received:1900-01-01 Revised:1900-01-01 Online:2009-06-20 Published:2009-06-20

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

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