智能社区下基于RTK技术的室外机器人定位导航方法

在智能社区环境下,借助Googel二维地图,采用模式匹配将地图中机器人活动范围部分转换为栅格地图,利用实时动态载波相位差分技术对机器人进行定位,然后采用对应比例将定位坐标与栅格地图坐标信息进行转换,实现机器人在栅格地图上的定位,以达到对机器人定位导航的目的;为保障机器人安全巡逻,采用倾斜向下安装的激光检测一个倾斜面,兼顾机器人前方与激光位置下方区域,获得更好的检测效果。通过实验验证:经过转换的二维地图与采用实时动态载波相位差分技术的定位误差在可接受范围,且机器人能顺利的实时避障,试验验证了该方法的可行性。

Outdoor Robot Location and Navigation Based on RTK in Intelligence Community

In the intelligence community, with the help of two-dimensional map of Google, the range of activities of robot will be converted to a grid map in pattern matching. The robot is locating by means of the Real-time dynamic carrier phase difference technology. Then we use the corresponding proportion of the positioning coordinates and coordinate information of grid map for conversion. So we can achieve the positioning of the robot on the grid map, to achieve the goal of navigation and positioning of the robot. To ensure the security of robot patrols, we install the laser sensor in tilt downward orientation to detect an inclined plane, taking into account the front and the lower area of laser sensor on the robot to get better detection effect. Through experimental to prove： After converting two-dimensional maps and the Real-time dynamic carrier phase difference technology, the error of positioning is in the acceptable range, and the obstacle can be avoided in a smooth real-time. The actual test has verified the feasibility of the method.