Navigation of Omni-Directional Mobile Manipulator Based on Ultrasonic-Absolute-Positioning

赵杰; 蒋林; 闫继宏; 朱延河

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Navigation of Omni-Directional Mobile Manipulator Based on Ultrasonic-Absolute-Positioning

更新时间：2025-12-08

- Navigation of Omni-Directional Mobile Manipulator Based on Ultrasonic-Absolute-Positioning
- Vol. 42, Issue 3, Pages: 337-341(2008)
- 作者机构：
  
  哈尔滨工业大学机器人研究所,哈尔滨,150080
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP29
- Online First：10 March 2008，
  
  Published：2008
- 稿件说明：
移动端阅览
赵杰, 蒋林, 闫继宏, et al. Navigation of Omni-Directional Mobile Manipulator Based on Ultrasonic-Absolute-Positioning[J]. 2008, 42(3): 337-341.
DOI：

赵杰, 蒋林, 闫继宏, et al. Navigation of Omni-Directional Mobile Manipulator Based on Ultrasonic-Absolute-Positioning[J]. 2008, 42(3): 337-341. DOI：

摘要

为提高全方位移动机械手(ODMM)导航的效率和精度

提出了基于超声波绝对定位的导航策略

策略包括绝对定位的奔向目标行为与避障行为.相对于传统的导航策略

该策略的优势在于可以时时精确定位

时时调整自己的航向与速度.同时

提出采用单冗余信息融合(FSRI)法来提高超声波的绝对定位精度

并将基于FSRI法的绝对定位应用到ODMM导航上.仿真与实验结果证明

基于超声波绝对定位的导航算法是正确的

可大大提高ODMM的导航效率和精度.

Abstract

To improve the navigation efficiency and precision of the omni-directional mobile manipulator(ODMM)

the ultrasonic-absolute-positioning strategy is proposed

where the move-to-goal behavior and avoid-obstacle behavior based on absolute positioning are involved. Compared with the conventional navigation strategies

the strategy is endowed with the superiorities

such as instant accurate locality

posture and speed adjusting. Then the fusing single redundant information(FSRI)method is adopted to improve the precision of the ultrasonic-absolute-positioning

and an ODMM navigation strategy based on FSRI method absolute positioning is presented. The experimental and simulation results confirm the validity of the navigation strategy.

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references

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